NDLI: Fast Attitude Estimation System for Unmanned Ground Vehicle Based on Vision/Inertial Fusion

Please wait, while we are loading the content...

Fast Attitude Estimation System for Unmanned Ground Vehicle Based on Vision/Inertial Fusion

Content Provider	MDPI
Author	Fan, Zhenhui Yang, Pengxiang Mei, Chunbo Zhu, Qiju Luo, Xiao
Copyright Year	2021
Description	The attitude estimation system based on vision/inertial fusion is of vital importance and great urgency for unmanned ground vehicles (UGVs) in GNSS-challenged/denied environments. This paper aims to develop a fast vision/inertial fusion system to estimate attitude; which can provide attitude estimation for UGVs during long endurance. The core idea in this paper is to integrate the attitude estimated by continuous vision with the inertial pre-integration results based on optimization. Considering that the time-consuming nature of the classical methods comes from the optimization and maintenance of 3D feature points in the back-end optimization thread, the continuous vision section calculates the attitude by image matching without reconstructing the environment. To tackle the cumulative error of the continuous vision and inertial pre-integration, the prior attitude information is introduced for correction, which is measured and labeled by an off-line fusion of multi-sensors. Experiments with the open-source datasets and in road environments have been carried out, and the results show that the average attitude errors are 1.11° and 1.96°, respectively. The road test results demonstrate that the processing time per frame is 24 ms, which shows that the proposed system improves the computational efficiency.
Starting Page	241
e-ISSN	20751702
DOI	10.3390/machines9100241
Journal	Machines
Issue Number	10
Volume Number	9
Language	English
Publisher	MDPI
Publisher Date	2021-10-18
Access Restriction	Open
Subject Keyword	Machines Transportation Science and Technology Attitude Estimation Vision/inertial Fusion Fast
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in