Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications

Keyframe-Based Tightly-Coupled SLAM with RGBD Camera and IMU

Authors
Yiming Zhang, Kui Li, Wei Wang
Corresponding Author
Yiming Zhang
Available Online January 2017.
DOI
https://doi.org/10.2991/icmmita-16.2016.89How to use a DOI?
Keywords
visual SLAM; IMU; keyframe-based; tightly coupled.
Abstract

In this paper, we propose a novel inertial-assisted slam system intended for low-cost micro aerial vehicles (MAVs). The system sensor assembly consists of color camera, depth camera and a inertial measurement unit (IMU) with three-axis accelerometers/gyroscopes. We use IMU data to enable probability-based predetermined operations rather than hypothesis testing iterations to accelerate pose calculation and obtain its optimal estimation through nonlinear optimization. We illustrate the performance of our system by hovering a MAV in a GPS-denied environment which position accuracy can reach 3.9cm RMSE in a 189 second flight and its robustness is also illustrated in a complex indoor environment.

Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications
Series
Advances in Computer Science Research
Publication Date
January 2017
ISBN
978-94-6252-285-5
ISSN
2352-538X
DOI
https://doi.org/10.2991/icmmita-16.2016.89How to use a DOI?
Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Yiming Zhang
AU  - Kui Li
AU  - Wei Wang
PY  - 2017/01
DA  - 2017/01
TI  - Keyframe-Based Tightly-Coupled SLAM with RGBD Camera and IMU
BT  - Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications
PB  - Atlantis Press
SP  - 481
EP  - 488
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmita-16.2016.89
DO  - https://doi.org/10.2991/icmmita-16.2016.89
ID  - Zhang2017/01
ER  -