A new pose estimation method based on inertial and visual sensors for autonomous robots

Xu De; Fu Li You

doi:10.1109/ROBIO.2007.4522196

A new pose estimation method based on inertial and visual sensors for autonomous robots

Xu De
, Fu Li You

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

11 Citations (Scopus)

Abstract

The inertial and visual sensors are popular sensors on board for robots. The combination of inertial and visual information is helpful to estimate the pose of a robot robustly. In this paper, a new sensing system with inertial and active visual sensors is proposed. A hierarchical fusion strategy is suggested. And a pose estimation method with optimization fusion is presented, which takes image features as constraints to optimize inertial parameters. It has the potential to estimate the pose faster and more accurate. Simulations are also provided in order to assess the proposed integration method conveniently. © 2008 IEEE.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Pages	405-410
DOIs	https://doi.org/10.1109/ROBIO.2007.4522196
Publication status	Published - 2008
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China Duration: 15 Dec 2007 → 18 Dec 2007 https://ieeexplore.ieee.org/xpl/conhome/4510710/proceeding

Conference

Conference	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Place	China
City	Yalong Bay, Sanya
Period	15/12/07 → 18/12/07
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4510710/proceeding

Research Keywords

Autonomous robot
Fusion
Inertial sensor
Pose estimation
Visual sensor

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10.1109/ROBIO.2007.4522196

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title = "A new pose estimation method based on inertial and visual sensors for autonomous robots",

abstract = "The inertial and visual sensors are popular sensors on board for robots. The combination of inertial and visual information is helpful to estimate the pose of a robot robustly. In this paper, a new sensing system with inertial and active visual sensors is proposed. A hierarchical fusion strategy is suggested. And a pose estimation method with optimization fusion is presented, which takes image features as constraints to optimize inertial parameters. It has the potential to estimate the pose faster and more accurate. Simulations are also provided in order to assess the proposed integration method conveniently. {\textcopyright} 2008 IEEE.",

keywords = "Autonomous robot, Fusion, Inertial sensor, Pose estimation, Visual sensor",

author = "Xu De and You, \{Fu Li\}",

year = "2008",

doi = "10.1109/ROBIO.2007.4522196",

language = "English",

isbn = "9781424417582",

pages = "405--410",

booktitle = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",

note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",

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AU - You, Fu Li

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AB - The inertial and visual sensors are popular sensors on board for robots. The combination of inertial and visual information is helpful to estimate the pose of a robot robustly. In this paper, a new sensing system with inertial and active visual sensors is proposed. A hierarchical fusion strategy is suggested. And a pose estimation method with optimization fusion is presented, which takes image features as constraints to optimize inertial parameters. It has the potential to estimate the pose faster and more accurate. Simulations are also provided in order to assess the proposed integration method conveniently. © 2008 IEEE.

KW - Autonomous robot

KW - Fusion

KW - Inertial sensor

KW - Pose estimation

KW - Visual sensor

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U2 - 10.1109/ROBIO.2007.4522196

DO - 10.1109/ROBIO.2007.4522196

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781424417582

SP - 405

EP - 410

BT - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Y2 - 15 December 2007 through 18 December 2007

ER -

A new pose estimation method based on inertial and visual sensors for autonomous robots

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