A new pose estimation method based on inertial and visual sensors for autonomous robots

Author

De Xu ; Li, You Fu

Author_Institution

Inst. of Autom., Chinese Acad. of Sci., Beijing

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

405

Lastpage

410

Abstract

The inertial and visual sensors are popular sensors on board for robots. The combination of inertial and visual information is helpful to estimate the pose of a robot robustly. In this paper, a new sensing system with inertial and active visual sensors is proposed. A hierarchical fusion strategy is suggested. And a pose estimation method with optimization fusion is presented, which takes image features as constraints to optimize inertial parameters. It has the potential to estimate the pose faster and more accurate. Simulations are also provided in order to assess the proposed integration method conveniently.

Keywords

image sensors; integration; mobile robots; pose estimation; sensor fusion; autonomous robots; hierarchical fusion strategy; inertial sensors; integration method; optimization fusion; pose estimation method; visual sensors; Angular velocity; Biosensors; Constraint optimization; Intelligent robots; Intelligent sensors; Robot sensing systems; Robotics and automation; Sensor fusion; Sensor systems; Velocity measurement; Visual sensor; autonomous robot; fusion; inertial sensor; pose estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522196

Filename

4522196