计算机科学 ›› 2020, Vol. 47 ›› Issue (11A): 334-338.doi: 10.11896/jsjkx.200200033
王文博, 黄璞, 杨章静
WANG Wen-bo, HUANG Pu, YANG Zhang-jing
摘要: 针对单一RGB-D摄像头SLAM时,快速移动导致跟踪失败的问题,提出了一种基于UWB、里程计和RGB-D融合的室内定位方法。该方法在UWB定位的基础上,利用里程计降低UWB固有的漂移误差。使用了加权平均的思想,仅消耗极少部分的计算资源就可以将各个传感器融合起来,提高了系统精度。实验结果表明,该方法可以将定位误差抑制在10 cm以内,将偏转角误差抑制在1°以内,彻底解决单一RGB-D摄像头SLAM时跟踪失败的问题。
中图分类号:
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