Research into Kinect/Inertial Measurement Units Based on Indoor Robots
AbstractAs indoor mobile navigation suffers from low positioning accuracy and accumulation error, we carried out research into an integrated location system for a robot based on Kinect and an Inertial Measurement Unit (IMU). In this paper, the close-range stereo images are used to calculate the attitude information and the translation amount of the adjacent positions of the robot by means of the absolute orientation algorithm, for improving the calculation accuracy of the robot’s movement. Relying on the Kinect visual measurement and the strap-down IMU devices, we also use Kalman filtering to obtain the errors of the position and attitude outputs, in order to seek the optimal estimation and correct the errors. Experimental results show that the proposed method is able to improve the positioning accuracy and stability of the indoor mobile robot. View Full-Text
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Li, H.; Wen, X.; Guo, H.; Yu, M. Research into Kinect/Inertial Measurement Units Based on Indoor Robots. Sensors 2018, 18, 839.
Li H, Wen X, Guo H, Yu M. Research into Kinect/Inertial Measurement Units Based on Indoor Robots. Sensors. 2018; 18(3):839.Chicago/Turabian Style
Li, Huixia; Wen, Xi; Guo, Hang; Yu, Min. 2018. "Research into Kinect/Inertial Measurement Units Based on Indoor Robots." Sensors 18, no. 3: 839.
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