A Novel Visual Odometer Assisted Pose Tracking Method for Mobile Robots
- Resource Type
- Conference
- Authors
- Yuan, Rupeng; Zhang, Fuhai; Zhu, Ying; Fu, Yili
- Source
- 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2019 IEEE International Conference on. :1139-1144 Dec, 2019
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Navigation
Pose tracking
Visual odometer
- Language
Pose tracking is very crucial for robot’s autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples’ score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles.