Light detection and ranging/inertial measurement unit-integrated navigation positioning for indoor mobile robots
Light detection and ranging/inertial measurement unit-integrated navigation positioning for indoor mobile robots
复制标题
室内移动机器人光探测测距/惯性测量单元一体化导航定位
DOI：
10.1177/1729881420919940
复制
发表时间：
2020-03
影响因子：
2.3
通讯作者：
Ping Jiang
中科院分区：
文献类型：
--
作者：
Xiaoyi Yan;Hang Guo;Min Yu;Yuan Xu;Liang Cheng;Ping Jiang
To overcome the problem of the low accuracy and large accumulated errors of indoor mobile navigation and positioning, a method to integrate the light detection and ranging- and inertial measurement unit-based measurement is proposed. Firstly, the voxel-scale-invariant feature transform feature extraction algorithm for light detection and ranging is studied. Then, the errors of light detection and ranging measurement due to the change of the scan plane compensated based on aiding information from inertial measurement unit. The relative position parameters and the differences of measurements of light detection and ranging at adjacent times are used to estimate the error of inertial measurement unit sensors by a Kalman filter. Several experiments are carried out in the indoor corridor and the results demonstrate that precision of the light detection and ranging/inertial measurement unit-integrated indoor mobile robot localization is higher than that of single light detection and ranging sensor.
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影响因子：
8.3
作者：
Zhang, Ji;Singh, Sanjiv
通讯作者：
Singh, Sanjiv
DOI：
--
发表时间：
2012
期刊：
--
影响因子：
--
作者：
Girish V. Chowdhary;D. Sobers;Chintasid Pravitra;Claus Christmann;Allen Wu;H. Hashimoto;C. Ong;Roshan Kalghatgi;Eric N. Johnson
通讯作者：
Girish V. Chowdhary;D. Sobers;Chintasid Pravitra;Claus Christmann;Allen Wu;H. Hashimoto;C. Ong;Roshan Kalghatgi;Eric N. Johnson
DOI：
10.1109/inertialsensors.2014.7049479
发表时间：
2014-09
期刊：
2014 DGON Inertial Sensors and Systems (ISS)
影响因子：
--
作者：
Rongbing Li;Jianye Liu;Ling Zhang;Y. Hang
通讯作者：
Rongbing Li;Jianye Liu;Ling Zhang;Y. Hang
DOI：
10.1109/plans.2014.6851395
发表时间：
2014-05
期刊：
2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014
影响因子：
--
作者：
Philipp Crocoll;Tim Caselitz;Bastian Hettich;M. Langer;G. Trommer
通讯作者：
Philipp Crocoll;Tim Caselitz;Bastian Hettich;M. Langer;G. Trommer
影响因子：
2.3
作者：
Rong Wang;Zhi Xiong;Jianye Liu;Yuxuan Cao
通讯作者：
Rong Wang;Zhi Xiong;Jianye Liu;Yuxuan Cao