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• W3020060489 abstract "This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial sensors due to ground contact forces, especially for low-cost sensors. Therefore, we propose textit{Threshold}-based and textit{Dynamic Time Warping}-based methods to detect abnormal measurements and mitigate such faults. The two methods are embedded into the popular VINS-Mono system to evaluate their performance. Experiments are performed on simulation and real robot data, which show that both methods increase the pose estimation accuracy. Moreover, the textit{Threshold}-based method performs better when the noise is small and the textit{Dynamic Time Warping}-based one shows greater potential on large noise." @default.
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• W3020060489 date "2020-01-01" @default.
• W3020060489 modified "2023-10-18" @default.
• W3020060489 title "Improved Visual-Inertial Localization for Low-cost Rescue Robots" @default.
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• W3020060489 doi "https://doi.org/10.1016/j.ifacol.2020.12.2624" @default.
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