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Open AccessArticle

Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features

1
School of Electrical Engineering, Korea University, Seoul 02841, Korea
2
Naver Labs, Gyeonggi-do 13494, Korea
3
TeeVR Inc., Seoul 02857, Korea
*
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in 3D Pose Estimation with One Plane Correspondence using Kinect and IMU. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September–2 October 2015; pp. 1970–1975.
Sensors 2018, 18(4), 935; https://doi.org/10.3390/s18040935
Received: 24 January 2018 / Revised: 16 March 2018 / Accepted: 20 March 2018 / Published: 22 March 2018
(This article belongs to the Section Remote Sensors, Control, and Telemetry)
In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit’s (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations. View Full-Text
Keywords: degeneracy; inertial measurement unit (IMU)-Kinect integration; plane feature; pose estimation; simultaneous localization and mapping (SLAM) degeneracy; inertial measurement unit (IMU)-Kinect integration; plane feature; pose estimation; simultaneous localization and mapping (SLAM)
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Cho, H.; Yeon, S.; Choi, H.; Doh, N. Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features. Sensors 2018, 18, 935.

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