GS2-1 ORB-SLAM based Sensor Fusion Algorithm for Real-Time Precision Driving

Title:	GS2-1 ORB-SLAM based Sensor Fusion Algorithm for Real-Time Precision Driving
Publication:	ICAROB2020
Volume:	25
Pages:	510-513
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2020.GS2-1
Author(s):	Yong-Jin Ock, Zhan-Ming Gu, Jang-Myung Lee
Publication Date:	January 13, 2020
Keywords:	SLAM, Indoor Localization, Mobile Robot
Abstract:	In this paper, we propose a position correction method through SLAM (Simultaneous Localization And Mapping)based sensor fusion for precise driving in the indoor. There was a problem that it was not possible to determine the exact posture and position with a single image alone. To compensate for this, additional IMU (Inertial Measurement Unit) sensor and encoder sensor should be installed and calibrated. At this time, the encoder sensor acquires information about the distance traveled and the attitude of the mobile robot. The IMU sensor measures the attitude error caused by the sliding and friction of the mobile robot and acquires the slope information of the current terrain. As a result, by combining the location information acquired by using the SLAM and the complex location information of the IMU sensor and the encoder sensor, precise position control is possible even in a space without many feature points.
PDF File:	https://alife-robotics.co.jp/members2020/icarob/data/html/data/GS/GS2/GS2-1.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/

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