Fusion location method of stereo vision inertial navigation system in indoor environment

doi:10.13474/j.cnki.11-2246.2019.0377

Abstract

Abstract: Aiming at the navigation and positioning problem of indoor service robots in the home environment, this paper studies the stereo-integrated inertial fusion navigation method based on tightly coupled nonlinear optimization. The method adopts key technologies such as pre-integration, edge-based and sliding window optimization, and proposes a robust initialization method of visual inertial navigation system. Used in indoor home service robots, the corresponding visual inertial fusion navigation system is designed and implemented. In the simulated home environment, the initialization method of the system can provide robust and accurate initial values. Finally, the accuracy and stability of the positioning system are verified by experiments. The positioning error can be controlled within 0.1 m.

Key words: IMU pre-integration, sliding window optimization, indoor robot, stereoscopic visual inertial navigation fusion, navigating positioning

CLC Number:

P228

AO Longhui, GUO Hang. Fusion location method of stereo vision inertial navigation system in indoor environment[J]. Bulletin of Surveying and Mapping, 2019, 0(12): 12-17.

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