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Sensors 2018, 18(3), 839;

Research into Kinect/Inertial Measurement Units Based on Indoor Robots

1,* and 3
Institute of Space Science and Technology, Nanchang University, Nanchang 330031, China
School of Resources Environment & Chemical Engineering, Ministry of Education Key Laboratory of Poyang Lake Environment and Resource Utilization, Nanchang University, Nanchang 330031, China
College of Computer Information and Engineering, Jiangxi Normal University, Nanchang 330022, China
Author to whom correspondence should be addressed.
Received: 13 January 2018 / Revised: 6 March 2018 / Accepted: 7 March 2018 / Published: 12 March 2018
(This article belongs to the Special Issue GNSS and Fusion with Other Sensors)
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As 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
Keywords: indoor navigation; location; Kinect; IMU; Kalman filters indoor navigation; location; Kinect; IMU; Kalman filters

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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.

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