Camera Ego-Positioning Using Sensor Fusion and Complementary Method

Peng Yuan Kao*, Kuan Wei Tseng, Tian Yi Shen, Yan Bin Song, Kuan Wen Chen, Shih Wei Hu, Sheng Wen Shih, Yi Ping Hung

*此作品的通信作者

研究成果: Conference contribution同行評審

摘要

Visual simultaneous localization and mapping (SLAM) is a common solution for camera ego-positioning. However, SLAM sometimes loses tracking, for instance due to fast camera motion or featureless or repetitive environments. To account for the limitations of visual SLAM, we use sensor fusion method to fuse the visual positioning results with inertial measurement unit (IMU) data based on filter-based, loosely-coupled sensor fusion methods, and further combines feature-based SLAM with direct SLAM via proposed complementary fusion to retain the advantages of both methods; i.e., we not only keep the accurate positioning of feature-based SLAM but also account for its difficulty with featureless scenes by direct SLAM. Experimental results show that the proposed complementary method improves the positioning accuracy of conventional vision-only SLAM and leads to more robust positioning results.

原文English
主出版物標題Pattern Recognition. ICPR International Workshops and Challenges, 2021, Proceedings
編輯Alberto Del Bimbo, Rita Cucchiara, Stan Sclaroff, Giovanni Maria Farinella, Tao Mei, Marco Bertini, Hugo Jair Escalante, Roberto Vezzani
發行者Springer Science and Business Media Deutschland GmbH
頁面291-304
頁數14
ISBN(列印)9783030687953
DOIs
出版狀態Published - 2021
事件25th International Conference on Pattern Recognition Workshops, ICPR 2020 - Milan, Italy
持續時間: 10 一月 202111 一月 2021

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
12663 LNCS
ISSN(列印)0302-9743
ISSN(電子)1611-3349

Conference

Conference25th International Conference on Pattern Recognition Workshops, ICPR 2020
國家/地區Italy
城市Milan
期間10/01/2111/01/21

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