基于超宽带、里程计、RGB-D融合的室内定位方法

doi:10.11896/jsjkx.200200033

Computer Science ›› 2020, Vol. 47 ›› Issue (11A): 334-338.doi: 10.11896/jsjkx.200200033

• Computer Network • Previous Articles Next Articles

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

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

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.

Abstract

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

CLC Number:

TP242

WANG Wen-bo, HUANG Pu, YANG Zhang-jing. Indoor Positioning Method Based on UWB Odometer and RGB-D Fusion[J].Computer Science, 2020, 47(11A): 334-338.

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