Pose Estimation Using Monocular Vision and Inertial Sensors Aided with Ultra Wide Band

被引：0

作者：

Nyqvist, Hanna E. ^{[1
]}

Skoglund, Martin A. ^{[1
]}

Hendeby, Gustaf ^{[1
,2
]}

Gustafsson, Fredrik ^{[1
]}

机构：

[1] Linkoping Univ, Dept Elect Engn, Linkoping, Sweden

[2] Swedish Def Res Agcy FOI, Dept Sensor & EW Syst, Linkoping, Sweden

来源：

2015 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN) | 2015年

关键词：

NAVIGATION; REALITY; SYSTEM; UWB;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a method for global pose estimation using inertial sensors, monocular vision, and ultra wide band (UWB) sensors. It is demonstrated that the complementary characteristics of these sensors can be exploited to provide improved global pose estimates, without requiring the introduction of any visible infrastructure, such as fiducial markers. Instead, natural landmarks are jointly estimated with the pose of the platform using a simultaneous localization and mapping framework, supported by a small number of easy-to-hide UWB beacons with known positions. The method is evaluated with data from a controlled indoor experiment with high precision ground truth. The results show the benefit of the suggested sensor combination and suggest directions for further work.

引用

页数：10

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