EKF-Based 6D SLAM for Air-duct Cleaning Robot Using Inertial Sensor and Stereo Vision

摘要：

　　The air-duct cleaning robot (ADCR) is an effective and safe tool for accomplishing terrible cleaning work in an air-duct network.In this paper,a six-dimensional simultaneous localizing and mapping algorithm based on multi-sensor information fusion is proposed to improve the ADCRs autonomous ability in unknown duct environment.By combing an inertial measurement unit (IMU)with a stereo camera and fusing the measurements of sensors with the extended Kalman filter,the uncertainty of measurement caused by noises can be bounded in a low level.Furthermore,the performance of the proposed scheme was proved to be accurate and robust with experiments in an experimental ventilation-duct environment.

关键词： Air-duct cleaning robot Stereo vision Inertial Navigation SLAM EKF

作者: Cong Wang Wei Sun Dexu Bu Zhiwei Zhou

作者单位: College of Electrical and Information Engineering,Hunan University,Changsha 410082,China

会议类型: 国际会议

会议名称: 2012 2nd International conference on Machinery Electronics and Control Engineering (2012年第二届国际机械电子与控制工程会议(ICMECE 2012))

会议地点: 济南

会议语种:英文

页码: 941-945

在线出版日期: 2012-12-29（万方平台首次上网日期，不代表论文的发表时间）