DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Visual-inertial SLAM aided estimation of anchor poses and sensor error model Parameters of UWB Radio modules

Lutz, Philipp and Schuster, Martin J. and Steidle, Florian (2019) Visual-inertial SLAM aided estimation of anchor poses and sensor error model Parameters of UWB Radio modules. In: International Conference on Advanced Robotics, Proceedings, ICAR. ICAR 2019, 2019-12-02 - 2019-12-06, Brasilien. doi: 10.1109/ICAR46387.2019.8981544.

[img] PDF


Local positioning technologies based on ultra-wideband (UWB) ranging have become broadly available and accurate enough for various robotic applications. In an infrastructure setup with static anchor radio modules one common problem is to determine their global positions within the world coordinate frame. Furthermore, issues like the complex radio-frequency wave propagation properties make it difficult to design a consistent sensor error model which generalizes well across different anchor setups and environments. Combining radio based local positioning systems with a visual-inertial navigation system (VINS) can provide very accurate pose estimates for calibration of the radio based localization modules and at the same time alleviate the inherent drift in visual-inertial navigation. We propose an approach to utilize a visual-inertial SLAM system using fish-eye stereo cameras and an IMU to estimate the anchor 6D poses as well as the parameters of an UWB module sensor error model on a micro-aerial-vehicle (MAV). Fiducial markers on all anchor radio modules are used as artificial landmarks within the SLAM system to get accurate anchor module pose estimates.

Item URL in elib:https://elib.dlr.de/133025/
Document Type:Conference or Workshop Item (Speech)
Title:Visual-inertial SLAM aided estimation of anchor poses and sensor error model Parameters of UWB Radio modules
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lutz, PhilippUNSPECIFIEDhttps://orcid.org/0000-0002-4552-8509UNSPECIFIED
Schuster, Martin J.UNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
Date:December 2019
Journal or Publication Title:International Conference on Advanced Robotics, Proceedings, ICAR
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:MAVs, mobile robots, SLAM, UWB, radio localization, sensor calibration
Event Title:ICAR 2019
Event Location:Brasilien
Event Type:international Conference
Event Start Date:2 December 2019
Event End Date:6 December 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lutz, Philipp
Deposited On:07 Jan 2020 09:14
Last Modified:24 Apr 2024 20:36

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.