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Mobile Platform Localization by Integration of Stereo Cameras,IMU and Wheel Qdometer Based on Federated Filter

WAN Wenhui;LI Yu;HU Wenmin;ZHAO Qiang;SUN Xun;ZHANG Qiuzhao;DI Kaichang;GUO Hang;WU Lixin;State Key Laboratory of Remote Sensing Science,Institute of Remote Sensing and Digital Earth,Chinese Academy of Sciences;School of Information Engineering,Nanchang University;IoT Perception Mine Research Center,China University of Mining and Technology;School of Environment Science and Spatial Informatics,China University of Mining and Technology;  
In a GPS-denied environment,visual odometry based on sequential stereo images can be applied to correction of accumulated localization errors from dead-reckoning.Visual odometry however,preforms.poorly or even fails under poor texture or illumination conditions.To achieve high precision and robust localization,a federated filter based localization method is proposed that integrates stereo cameras,the IMU,and wheel odometer.The two sub filters in the federated filter,constructed by a IMU integrated with the wheel odometer and stereo cameras provide robust localization when visual odometry fails.Experimental results in an underground field demonstrates robust performance and improvement in localization accuracy.
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