Keyframe-Based Tightly-Coupled SLAM with RGBD Camera and IMU
Yiming Zhang, Kui Li, Wei Wang
Available Online January 2017.
- 10.2991/icmmita-16.2016.89How to use a DOI?
- visual SLAM; IMU; keyframe-based; tightly coupled.
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.
- © 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 - 10.2991/icmmita-16.2016.89 ID - Zhang2017/01 ER -