INERTIA ENHANCED VISUAL SLAM METHOD FOR POSTION AND POSE RECOGNITION

Ao Li; Yue Ma; Yifan Peng

doi:10.1049/icp.2021.0471

INERTIA ENHANCED VISUAL SLAM METHOD FOR POSTION AND POSE RECOGNITION

Ao Li, Yue Ma^*, Yifan Peng

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper focuses on the inertia enhanced visual SLAM (Simultaneous Localization and Mapping) method which fuses the data of IMU (Inertial Measurement Unit) inertial positioning system and the stereoscopic vision ORB-SLAM2 positioning system to solve limitations of application scenarios and accuracy. After fusing IMU data, the visualinertial SLAM amends the ORB-SLAM2 pose data processing algorithm which can effectively improve the positioning accuracy in the face of some complex scenes, showing that the algorithm has excellent development space.

Original language	English
Title of host publication	IET Conference Proceedings
Publisher	Institution of Engineering and Technology
Pages	341-346
Number of pages	6
Volume	2020
Edition	3
ISBN (Electronic)	9781839534195
DOIs	https://doi.org/10.1049/icp.2021.0471
Publication status	Published - 2020
Event	2020 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2020 - Virtual, Online Duration: 18 Sept 2020 → 21 Sept 2020

Conference

Conference	2020 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2020
City	Virtual, Online
Period	18/09/20 → 21/09/20

Keywords

IMU
INERTIA ENHANCED VISUAL SLAM
POSTION AND POSE RECOGNITION

Access to Document

10.1049/icp.2021.0471

Cite this

@inproceedings{a50880ad4e514771bb82d78394aedc08,

title = "INERTIA ENHANCED VISUAL SLAM METHOD FOR POSTION AND POSE RECOGNITION",

abstract = "This paper focuses on the inertia enhanced visual SLAM (Simultaneous Localization and Mapping) method which fuses the data of IMU (Inertial Measurement Unit) inertial positioning system and the stereoscopic vision ORB-SLAM2 positioning system to solve limitations of application scenarios and accuracy. After fusing IMU data, the visualinertial SLAM amends the ORB-SLAM2 pose data processing algorithm which can effectively improve the positioning accuracy in the face of some complex scenes, showing that the algorithm has excellent development space.",

keywords = "IMU, INERTIA ENHANCED VISUAL SLAM, POSTION AND POSE RECOGNITION",

author = "Ao Li and Yue Ma and Yifan Peng",

note = "Publisher Copyright: {\textcopyright} 2020 The Institution of Engineering and Technology.; 2020 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2020 ; Conference date: 18-09-2020 Through 21-09-2020",

year = "2020",

doi = "10.1049/icp.2021.0471",

language = "English",

volume = "2020",

pages = "341--346",

booktitle = "IET Conference Proceedings",

publisher = "Institution of Engineering and Technology",

address = "United Kingdom",

edition = "3",

}

TY - GEN

T1 - INERTIA ENHANCED VISUAL SLAM METHOD FOR POSTION AND POSE RECOGNITION

AU - Li, Ao

AU - Ma, Yue

AU - Peng, Yifan

PY - 2020

Y1 - 2020

N2 - This paper focuses on the inertia enhanced visual SLAM (Simultaneous Localization and Mapping) method which fuses the data of IMU (Inertial Measurement Unit) inertial positioning system and the stereoscopic vision ORB-SLAM2 positioning system to solve limitations of application scenarios and accuracy. After fusing IMU data, the visualinertial SLAM amends the ORB-SLAM2 pose data processing algorithm which can effectively improve the positioning accuracy in the face of some complex scenes, showing that the algorithm has excellent development space.

AB - This paper focuses on the inertia enhanced visual SLAM (Simultaneous Localization and Mapping) method which fuses the data of IMU (Inertial Measurement Unit) inertial positioning system and the stereoscopic vision ORB-SLAM2 positioning system to solve limitations of application scenarios and accuracy. After fusing IMU data, the visualinertial SLAM amends the ORB-SLAM2 pose data processing algorithm which can effectively improve the positioning accuracy in the face of some complex scenes, showing that the algorithm has excellent development space.

KW - IMU

KW - INERTIA ENHANCED VISUAL SLAM

KW - POSTION AND POSE RECOGNITION

UR - http://www.scopus.com/inward/record.url?scp=85174652340&partnerID=8YFLogxK

U2 - 10.1049/icp.2021.0471

DO - 10.1049/icp.2021.0471

M3 - Conference contribution

AN - SCOPUS:85174652340

VL - 2020

SP - 341

EP - 346

BT - IET Conference Proceedings

PB - Institution of Engineering and Technology

T2 - 2020 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2020

Y2 - 18 September 2020 through 21 September 2020

ER -

INERTIA ENHANCED VISUAL SLAM METHOD FOR POSTION AND POSE RECOGNITION

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this