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Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors

In this paper, a simultaneous localization and mapping algorithm based on the weighted asynchronous fusion of laser and vision sensors is proposed for an assistant robot. When compared to the synchronous fusion algorithm, this method can effectively use the redundant data in the vision sensor and im...

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Autores principales: Xing, Kexin, Zhang, Xingsheng, Lin, Yegui, Ci, Wenqi, Dong, Wei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9172619/
https://www.ncbi.nlm.nih.gov/pubmed/35686119
http://dx.doi.org/10.3389/fnbot.2022.866294
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author Xing, Kexin
Zhang, Xingsheng
Lin, Yegui
Ci, Wenqi
Dong, Wei
author_facet Xing, Kexin
Zhang, Xingsheng
Lin, Yegui
Ci, Wenqi
Dong, Wei
author_sort Xing, Kexin
collection PubMed
description In this paper, a simultaneous localization and mapping algorithm based on the weighted asynchronous fusion of laser and vision sensors is proposed for an assistant robot. When compared to the synchronous fusion algorithm, this method can effectively use the redundant data in the vision sensor and improve the tracking accuracy of the algorithm. At the same time, the attitude estimation of the visual sensor is taken as a prior of the attitude estimation of the laser sensor to reduce the number of iterations and improve the efficiency of the algorithm. Further, according to the running state of the robot, a weighting coefficient based on angle is introduced to improve the confidence of the measurement. Experimental results show that the algorithm is robust and can work in a degraded environment. When compared to the synchronous fusion method, the asynchronous fusion algorithm has a more accurate prior, faster operation speed, higher pose estimation frequency, and more accurate positioning accuracy.
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spelling pubmed-91726192022-06-08 Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors Xing, Kexin Zhang, Xingsheng Lin, Yegui Ci, Wenqi Dong, Wei Front Neurorobot Neuroscience In this paper, a simultaneous localization and mapping algorithm based on the weighted asynchronous fusion of laser and vision sensors is proposed for an assistant robot. When compared to the synchronous fusion algorithm, this method can effectively use the redundant data in the vision sensor and improve the tracking accuracy of the algorithm. At the same time, the attitude estimation of the visual sensor is taken as a prior of the attitude estimation of the laser sensor to reduce the number of iterations and improve the efficiency of the algorithm. Further, according to the running state of the robot, a weighting coefficient based on angle is introduced to improve the confidence of the measurement. Experimental results show that the algorithm is robust and can work in a degraded environment. When compared to the synchronous fusion method, the asynchronous fusion algorithm has a more accurate prior, faster operation speed, higher pose estimation frequency, and more accurate positioning accuracy. Frontiers Media S.A. 2022-05-24 /pmc/articles/PMC9172619/ /pubmed/35686119 http://dx.doi.org/10.3389/fnbot.2022.866294 Text en Copyright © 2022 Xing, Zhang, Lin, Ci and Dong. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Xing, Kexin
Zhang, Xingsheng
Lin, Yegui
Ci, Wenqi
Dong, Wei
Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors
title Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors
title_full Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors
title_fullStr Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors
title_full_unstemmed Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors
title_short Simultaneous Localization and Mapping Algorithm Based on the Asynchronous Fusion of Laser and Vision Sensors
title_sort simultaneous localization and mapping algorithm based on the asynchronous fusion of laser and vision sensors
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9172619/
https://www.ncbi.nlm.nih.gov/pubmed/35686119
http://dx.doi.org/10.3389/fnbot.2022.866294
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