...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Simple and Parallel Algorithm for Real-Time Robot Localization by Fusing Monocular Vision and Odometry/AHRS Sensors
【24h】

A Simple and Parallel Algorithm for Real-Time Robot Localization by Fusing Monocular Vision and Odometry/AHRS Sensors

机译：融合单眼视觉和测距/ AHRS传感器的简单并行实时机器人定位算法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Vision and odometry/attitude and heading reference system (AHRS, three-axial gyroscopes, accelerometers, and magnetometers) sensors fusion strategy is prevalent in the recent years for the robot localization, due to its low cost and effectiveness in global positioning system (GPS)-denied environments. In this paper, a new adaptive estimation algorithm is proposed to estimate the robot position by fusing the monocular vision and odometry/AHRS sensors, and utilizing the properties of perspective projection. By the new method, the robot can be localized in real time in the GPS-denied and mapless environments, and the localization results can be theoretically proved convergent to their real values. Compared to other methods, our algorithm is simple to implement and suitable for parallel processing. To achieve the real-time performance, the algorithm is implemented in parallel using graphics processing unit (GPU), and therefore, it can be easily integrated into mobile robots’ tasks like navigation and motion control, which need the real-time localization information. Simulations and experiments were conducted to validate the good convergence and longtime robustness performances of the proposed real-time localization algorithm.
机译：视觉和里程计/姿态和航向参考系统（AHRS，三轴陀螺仪，加速度计和磁力计）传感器融合策略近年来在机器人本地化中非常普遍，这是由于其低成本和在全球定位系统（GPS）中的有效性拒绝的环境。本文提出了一种新的自适应估计算法，通过融合单眼视觉和里程计/ AHRS传感器，并利用透视投影的特性来估计机器人位置。通过这种新方法，可以在GPS受限且没有地图的环境中实时定位机器人，并且在理论上可以证明定位结果与实际值相符。与其他方法相比，我们的算法易于实现，适合并行处理。为了实现实时性能，该算法使用图形处理单元（GPU）并行实现，因此可以轻松地集成到需要实时定位信息的移动机器人的任务中，例如导航和运动控制。通过仿真和实验验证了所提出的实时定位算法的良好收敛性和长期鲁棒性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号