Application of Visual Inertial Odometry for Pose Estimation of a Mobile Robot

被引：0
|
作者：
Lee, Boeun [1 ]
Ko, Nak Yong [2 ]
Yeom, Hong Gi [2 ]
机构：
[1] Chosun Univ, Grad Sch, Interdisciplinary Program IT Bio Convergence Syst, Dept Elect Engn, Gwangju 61452, South Korea
[2] Chosun Univ, Interdisciplinary Program IT Bio Convergence Syst, Dept Elect Engn, Gwangju 61452, South Korea
来源：
2022 22ND INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2022) | 2022年
基金：
新加坡国家研究基金会;
关键词：
Visual inertial odometry; Inertial measurement unit; Sensor calibration; Multi-state constraint Kalman filter;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an application of visual inertial odometry is described. Details of the implementation including the calibration are also described. The method uses visual data from two cameras and the measurements from inertial measurement unit. Previous researches usually used only front view image, whereas this study uses three different visual data from different view angles: front view, floor view, and ceiling view. The results are compared and the effect according to different view angles is analyzed. The comparison shows that the number of detectable features affects the performance of the visual odometry.
引用
收藏
页码：1063 / 1065
页数：3
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