Underwater Vehicle Motion Parameters Estimation Simulation and Experiment Based on Monocular Vision and Low Cost Inertial Measurement Unit

机译：基于单目视觉和低成本惯性测量单元的水下航行器运动参数估计仿真与实验

获取原文

页面导航

摘要
著录项
相似文献
相关主题

摘要

In this paper, authors proposed a practical motion estimation strategyto obtain the single static object position and the vehicle's motionparameters simultaneously by utilizing camera and IMU (InertialMeasurement Unit), and tried several classic nonlinear parametersestimation methods on this problem based on the Matlab simulation. Alot of preliminary calibration experiments have been done to fuse thedata from IMU and camera, which included: camera calibration, IMUerror modeling, and relative attitude calibration between IMU andcamera. The obtaining of sensor's model made the simulation work bepossible, and the PF algorithm can track the vehicle's motionparameters and obtain the target position very well. The accuracy iscentimeter level.

机译：在本文中，作者提出了一种实用的运动估计策略，即利用相机和IMU（惯性测量单元）同时获得单个静态物体的位置和车辆的运动参数，并在Matlab仿真的基础上尝试了几种经典的非线性参数估计方法。为了融合来自IMU和相机的数据，已经进行了许多初步的校准实验，包括：相机校准，IMU错误建模以及IMU和相机之间的相对姿态校准。传感器模型的获得使仿真工作成为可能，并且PF算法可以跟踪车辆的运动参数并很好地获得目标位置。精度为厘米级别。

著录项

来源
《International offshore and polar engineering conference;ISOPE-2009》|2009年|p.730-737|共8页
会议地点 Osaka(JP);Osaka(JP)
作者
Qiang Li; Qifeng Zhang; Xiaohui Wang;
展开▼
作者单位

State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate School of the Chiese Academy of Sciences China;

State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China;

展开▼
会议组织
原文格式 PDF
正文语种
中图分类
关键词
I-AUV; camera and IMU; nonlinear parameter estimation; particle filter; relative calibration; data fusion;

机译：I-AUV；相机和IMU；非线性参数估计颗粒过滤器相对校准数据融合;

相似文献

外文文献
中文文献
专利

1. A low-cost platform based on a robotic arm for parameters estimation of Inertial Measurement Units [J] . Botero-Valencia Juan, Marquez-Viloria David, Castano-Londono Luis, Measurement . 2017,第期

机译：基于机器人臂的低成本平台，用于惯性测量单元的参数估计
2. Kinematic Modeling and Analysis of Skid-Steered Mobile Robots With Applications to Low-Cost Inertial-Measurement-Unit-Based Motion Estimation [J] . Yi J., Wang H., Zhang J., Robotics, IEEE Transactions on . 2009,第5期

机译：滑移式移动机器人的运动学建模与分析及其在基于低成本惯性测量单元的运动估计中的应用
3. Terrain-Based Vehicle Orientation Estimation Combining Vision and Inertial Measurements [J] . Vishisht Gupta, Sean Brennan Journal of Field Robotics . 2008,第3期

机译：结合视觉和惯性测量的基于地形的车辆方向估计
4. Underwater Vehicle Motion Parameters Estimation Simulation and Experiment Based on Monocular Vision and Low Cost Inertial Measurement Unit [C] . International offshore and polar engineering conference . 2009

机译：基于单眼视觉和低成本惯性测量单元的水下车辆运动参数估计仿真与实验
5. A low-cost, high rate motion measurement system for an unmanned surface vehicle with underwater navigation and oceanographic applications. [D] . Gelin, Chrystel. 2010

机译：一种低成本，高速率运动测量系统，适用于具有水下导航和海洋学应用的无人水面车辆。
6. Improving low-cost inertial-measurement-unit (IMU)-based motion tracking accuracy for a biomorphic hyper-redundant snake robot [O] . Weixin Yang, Alexandr Bajenov, Yantao Shen -1

机译：提高低成本生物惯性超冗余蛇机器人基于惯性测量单元（IMU）的运动跟踪精度
7. Kinematic modeling and analysis of skid-steered mobile robots with applications to low-cost inertial-measurement-unit-based motion estimation [O] . Jingang Yi, Senior Member, Hongpeng Wang, 2014

机译：滑移控制移动机器人的运动建模与分析及其在低成本惯性测量单元运动估计中的应用

Underwater Vehicle Motion Parameters Estimation Simulation and Experiment Based on Monocular Vision and Low Cost Inertial Measurement Unit

摘要

著录项

相似文献

相关主题

期刊订阅