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Enhancing accuracy in visual SLAM by tightly coupling sparse ranging measurements between two rovers

Zhu, Chen and Giorgi, Gabriele and Lee, Young-Hee and Günther, Christoph (2018) Enhancing accuracy in visual SLAM by tightly coupling sparse ranging measurements between two rovers. In: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2018. IEEE/ION Position, Location and Navigation Symposium (PLANS), 2018, Monterey, California, USA. ISBN 978-153861647-5

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Abstract

Compared with stand-alone rovers, cooperative swarms of robots equipped with cameras enable a more efficient exploration of the environment, and are more robust against malfunctions of an individual platform. VSLAM (Visual Simultaneous Localization and Mapping) techniques have been developed in recent years to estimate the trajectory of vehicles and to simultaneously reconstruct the map of the surroundings using visual clues. This work proposes a tight coupling sensor fusion approach based on the combined use of stereo cameras and sparse ranging measurements between two dynamic rovers in planar motion. The Cramér-Rao lower bound (CRLB) of the rover pose estimator using the fusion algorithm is calculated. Both the lower bound and the simulation results show that to what extent the proposed fusion method outperforms the vision-only approach.

Item URL in elib:https://elib.dlr.de/123284/
Document Type:Conference or Workshop Item (Lecture)
Title:Enhancing accuracy in visual SLAM by tightly coupling sparse ranging measurements between two rovers
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zhu, ChenChen.Zhu (at) dlr.dehttps://orcid.org/0000-0002-4320-4826
Giorgi, GabrieleGabriele.Giorgi (at) dlr.deUNSPECIFIED
Lee, Young-Heeyounghee.lee (at) tum.deUNSPECIFIED
Günther, Christophchristoph.guenther (at) dlr.deUNSPECIFIED
Date:23 November 2018
Journal or Publication Title:Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
ISBN:978-153861647-5
Status:Published
Keywords:Visual SLAM; Sensor fusion; Tight coupling; Cramer-Rao bound
Event Title:IEEE/ION Position, Location and Navigation Symposium (PLANS), 2018
Event Location:Monterey, California, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Zhu, Chen
Deposited On:23 Nov 2018 15:12
Last Modified:31 Jul 2019 20:21

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