Research on Positioning Method in Underground Complex Environments Based on Fusion of Binocular Vision and IMU

Aiming at the failure of traditional visual slam localization caused by dynamic target interference and weak texture in underground complexes, an effective robot localization scheme was designed in this paper. Firstly, the Harris algorithm with stronger corner detection ability was used, which furth...

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Autori principali:	Jie Cheng, Yinglian Jin, Zhen Zhai, Xiaolong Liu, Kun Zhou
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	MDPI AG 2022-07-01
Serie:	Sensors
Soggetti:	SLAM (simultaneous localization and mapping) sensor fusion of visual and IMU nonlinear optimization sliding window
Accesso online:	https://www.mdpi.com/1424-8220/22/15/5711
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