Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter

Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter

Using a single sensor to determine the pose estimation of a device cannot give accurate results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which comprises the 3-axis of an accelerometer and the 3-axis of a gyroscope, and a vision to determine a low-cost and...

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Bibliographic Details
Main Authors: Mary B. Alatise, Gerhard P. Hancke
Format: Article
Language:English
Published: MDPI AG 2017-09-01
Series:Sensors
Subjects:
pose estimation
mobile robot
inertial sensors
vision
object
extended Kalman filter
Online Access:https://www.mdpi.com/1424-8220/17/10/2164

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