Global Localization Based on Tether and Visual-Inertial Odometry With Adsorption Constraints for Climbing Robots
Global Localization Based on Tether and Visual-Inertial Odometry With Adsorption Constraints for Climbing Robots
复制标题
基于系绳和吸附约束视觉惯性里程计的攀爬机器人全局定位
DOI：
10.1109/tii.2022.3205952
复制
发表时间：
2023-05
影响因子：
12.3
通讯作者：
Han Ding
中科院分区：
文献类型：
--
作者：
Zhenfeng Gu;Zeyu Gong;Bo Tao;zhouping Yin;Han Ding
Localization in a large-scale three-dimensional scene is a key challenge faced by climbing robots on large workpieces. This article proposes a global localization method for climbing robots based on tether displacement sensor, visual-inertial odometry (VIO), and computer-aided design (CAD) model of workpieces. Tether displacement sensor measures the distance between robot and tether anchor with little drift, which enables robot to acquire global pose. Adsorption constraints on robot motion are extracted using CAD model to reduce the drift of VIO. The approach realizes global localization with high accuracy for the robots when climbing on large workpieces without other external locating equipment. The performance is verified with a prototype of climbing robot testing on real large workpieces. In all experiments, our method with adsorption constraints outperforms existing VIO. The largest drift of merged trajectory is as low as 0.51% in global localization on a wind turbine blade with length of 8 m.
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DOI：
10.1109/iros51168.2021.9636522
发表时间：
2021-03
期刊：
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
--
作者：
Karnik Ram;Chaitanya Kharyal;Sudarshan S. Harithas;K. Krishna
通讯作者：
Karnik Ram;Chaitanya Kharyal;Sudarshan S. Harithas;K. Krishna
DOI：
10.1177/0278364905055701
发表时间：
2005-07
期刊：
The International Journal of Robotics Research
影响因子：
--
作者：
T. White;R. Alexander;Glenn Callow;Andrew Cooke;Steve Harris;J. Sargent
通讯作者：
T. White;R. Alexander;Glenn Callow;Andrew Cooke;Steve Harris;J. Sargent
影响因子：
3.9
作者：
Shan, Zeyong;Li, Ruijian;Schwertfeger, Soren
通讯作者：
Schwertfeger, Soren
影响因子：
7.8
作者：
Qin, Tong;Li, Peiliang;Shen, Shaojie
通讯作者：
Shen, Shaojie
影响因子：
3.2
作者：
J. Franko;Shengzhi Du;S. Kallweit;Enno Dülberg;H. Engemann
通讯作者：
J. Franko;Shengzhi Du;S. Kallweit;Enno Dülberg;H. Engemann