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

^*此作品的通讯作者

机械与车辆学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	IET Conference Proceedings
出版商	Institution of Engineering and Technology
页	341-346
页数	6
卷	2020
版本	3
ISBN（电子版）	9781839534195
DOI	https://doi.org/10.1049/icp.2021.0471
出版状态	已出版 - 2020
活动	2020 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2020 - Virtual, Online 期限: 18 9月 2020 → 21 9月 2020

会议

会议	2020 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2020
市	Virtual, Online
时期	18/09/20 → 21/09/20

访问文件

10.1049/icp.2021.0471

其它文件与链接

链接到 Scopus 的出版物

引用此

@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

摘要

会议

访问文件

其它文件与链接

指纹

引用此