Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots

Huiming Xing, Liwei Shi*, Kun Tang, Shuxiang Guo, Xihuan Hou, Yu Liu, Huikang Liu, Yao Hu

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

52 引用 (Scopus)

摘要

In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead-reckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization approach for special environments, such as underwater caves. Owing to the rotation movement with zero-radius, the cooperative localization of Multiple Turtle-inspired Amphibious Spherical Robot (MTASRs) is realized. Firstly, we present an efficient Histogram of Oriented Gradient (HOG) and Color Names (CNs) fusion feature extracted from color images of TASRs. Then, by training Support Vector Machine (SVM) classifier with this fusion feature, an automatic recognition method of TASRs is developed. Secondly, RGB-D camera-based measurement model is obtained by the depth map. In order to realize the cooperative and relative close-range localization of MTASRs, the MTASRs model is established with RGB-D camera and IMU. Finally, the depth measurement in water is corrected and the efficiency of RGB-D camera for underwater application is validated. Then experiments of our proposed localization method with three robots were conducted and the results verified the feasibility of the proposed method for MTASRs.

源语言英语
页(从-至)442-454
页数13
期刊Journal of Bionic Engineering
16
3
DOI
出版状态已出版 - 1 5月 2019

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引用此

Xing, H., Shi, L., Tang, K., Guo, S., Hou, X., Liu, Y., Liu, H., & Hu, Y. (2019). Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots. Journal of Bionic Engineering, 16(3), 442-454. https://doi.org/10.1007/s42235-019-0036-1