Multi-Sensor Fusion for Wheel-Inertial-Visual Systems Using a Fuzzification-Assisted Iterated Error State Kalman Filter
This paper investigates the odometry drift problem in differential-drive indoor mobile robots and proposes a multi-sensor fusion approach utilizing a Fuzzy Inference System (FIS) within a Wheel-Inertial-Visual Odometry (WIVO) framework to optimize the 6-DoF localization of the robot in unstructured...
| Автори: | , , , , , , , |
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| Формат: | Стаття |
| Мова: | English |
| Опубліковано: |
MDPI AG
2024-11-01
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| Серія: | Sensors |
| Предмети: | |
| Онлайн доступ: | https://www.mdpi.com/1424-8220/24/23/7619 |