Research on Positioning Method in Underground Complex Environments Based on Fusion of Binocular Vision and IMU

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 15; p. 5711
• Main Authors: Cheng, Jie, Jin, Yinglian, Zhai, Zhen, Liu, Xiaolong, Zhou, Kun
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 30.07.2022; MDPI
• Subjects: Accuracy; Algorithms; Cameras; Design; Lasers; nonlinear optimization; Optimization; Robots; sensor fusion of visual and IMU; Sensors; SLAM (simultaneous localization and mapping); sliding window

Aiming at the failure of traditional visual slam localization caused by dynamic target interference and weak texture in underground complexes, an effective robot localization scheme was designed in this paper. Firstly, the Harris algorithm with stronger corner detection ability was used, which furth...