Title :
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
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;
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
DOI :
10.1109/ROBIO.2007.4522196
