计算机科学 ›› 2020, Vol. 47 ›› Issue (11A): 334-338.doi: 10.11896/jsjkx.200200033

• 计算机网络 • 上一篇    下一篇

基于超宽带、里程计、RGB-D融合的室内定位方法

王文博, 黄璞, 杨章静   

  1. 南京审计大学信息工程学院 南京 211815
  • 出版日期:2020-11-15 发布日期:2020-11-17
  • 通讯作者: 杨章静(yzj@nau.edu.cn)
  • 作者简介:yzj@nau.edu.cn
  • 基金资助:
    国家自然科学基金(U1831127,61772254,61503195,61603192);物联网产业化与智能生产协同创新中心(闽江学院)基金(IIC1705);江苏省高校“青蓝工程”优秀青年骨干教师培养对象

Indoor Positioning Method Based on UWB Odometer and RGB-D Fusion

WANG Wen-bo, HUANG Pu, YANG Zhang-jing   

  1. School of Information Engineering,Nanjing Audit University,Nanjing 211815,China
  • Online:2020-11-15 Published:2020-11-17
  • About author:WANG Wen-bo,born in 1995,postgra-duate,is a member of China Computer Federation.His main research interests include machine learning and so on.
    YANG Zhang-jing,born in 1979,Ph.D,associate professor,is a member of China Computer Federation.His main research interests include artificial intelligence and so on.
  • Supported by:
    This work was supported by the National Natural Science Foundation(U1831127,61772254,61503195,61603192),Program of Collaborative Innovation Center of IoT Industrialization and Intelligent Production (Minjiang University) (IIC1705) and Training Objects of Outstanding Young Backbone Teachers of “Blue Project” in Jiangsu Universities.

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。

关键词: RGB-G, SLAM, 超宽带, 里程计, 室内定位

Abstract: Aiming at the problem of tracking failure caused by rapid movement of single RGB-D camera slam,an indoor location method based on UWB,odometer and RGB-D fusion is proposed.Based on the location of UWB,this method uses Odometer to reduce the inherent drift error of UWB.Using the idea of weighted average,only a small part of computing resources can be consumed to fuse the sensors and improve the accuracy of the system.Experimental results show that the method can suppress the location error within 10 cm and the deflection angle error within 1 °.It can completely solve the problem of tracking failure when a single RGB-D camera slams.

Key words: Indoor-positioning, Odometer, RGB-G, SLAM, Ultra Wideband

中图分类号: 

  • TP242
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