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Autonomous Robots

Erschienen in:

28.08.2020

Tightly-coupled ultra-wideband-aided monocular visual SLAM with degenerate anchor configurations

verfasst von: Thien Hoang Nguyen, Thien-Minh Nguyen, Lihua Xie

Erschienen in: Autonomous Robots | Ausgabe 8/2020

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Abstract

This paper proposes an enhanced tightly-coupled sensor fusion scheme using a monocular camera and ultra-wideband (UWB) ranging sensors for the task of simultaneous localization and mapping. By leveraging UWB data, the method can achieve metric-scale, drift-reduced odometry and a map consisting of visual landmarks and UWB anchors without knowing the anchor positions. Firstly, the UWB configuration accommodates any degenerate cases with an insufficient number of anchors for 3D triangulation (\(N\le 3\) and no height data). Secondly, a practical model for UWB measurement is used, ensuring more accurate estimates for all the states. Thirdly, selected prior range measurements including the anchor-world origin and anchor–anchor ranges are utilized to alleviate the requirement of good initial guesses for anchor position. Lastly, a monitoring scheme is introduced to appropriately fix the scale factor to maintain a smooth trajectory as well as the UWB anchor position to fuse camera and UWB measurement in the bundle adjustment. Extensive experiments are carried out to showcase the effectiveness of the proposed system.

Vorheriger Artikel An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints

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Titel: Tightly-coupled ultra-wideband-aided monocular visual SLAM with degenerate anchor configurations
verfasst von: Thien Hoang Nguyen
Thien-Minh Nguyen
Lihua Xie
Publikationsdatum: 28.08.2020
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 8/2020
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-020-09944-7

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