ORB-SLAM based Sensor Fusion Algorithm for Real-Time Precision Driving

DOI

Description

In this paper, we propose a position correction method through SLAM (Simultaneous Localization And Mapping)based sensor fusion for precise driving in the indoor. There was a problem that it was not possible to determine the exact posture and position with a single image alone. To compensate for this, additional IMU (Inertial Measurement Unit) sensor and encoder sensor should be installed and calibrated. At this time, the encoder sensor acquires information about the distance traveled and the attitude of the mobile robot. The IMU sensor measures the attitude error caused by the sliding and friction of the mobile robot and acquires the slope information of the current terrain. As a result, by combining the location information acquired by using the SLAM and the complex location information of the IMU sensor and the encoder sensor, precise position control is possible even in a space without many feature points.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390283659853473664
  • DOI
    10.5954/icarob.2020.gs2-1
  • ISSN
    21887829
  • Text Lang
    en
  • Data Source
    • JaLC
    • Crossref
  • Abstract License Flag
    Disallowed

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