GCMVF-AGV: Globally Consistent Multiview Visual-Inertial Fusion for AGV Navigation in Digital Workshops

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Zhang, YinlongChinese Acad Sci, Shenyang Inst Automat, Key Lab Networked Control Syst, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China.;Univ Chinese Acad Sci, Beijing 100049, Peoples R China. (författare)

GCMVF-AGV : Globally Consistent Multiview Visual-Inertial Fusion for AGV Navigation in Digital Workshops

Artikel/kapitelEngelska2023

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Institute of Electrical and Electronics Engineers (IEEE),2023
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LIBRIS-ID:oai:DiVA.org:kth-340082
https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-340082URI
https://doi.org/10.1109/TIM.2023.3317479DOI

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Språk:engelska
Sammanfattning på:engelska

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QC 20231130
An accurate and globally consistent navigation system is crucial for estimating the positions and attitudes of automated guided vehicles (AGVs) in digital workshops. A promising navigation technology for this purpose is tightly coupled visual-inertial fusion, which offers advantages such as quick response (QR), absolute scale, and accuracy. However, existing visual-inertial fusion systems have limitations, including long-term drift, tracking failures in textureless or poorly illuminated environments, and a lack of absolute references. To create a reliable and consistent AGV navigation framework and correct for long-term drift, we have designed a novel framework, globally consistent multiview visual-inertial fusion for AGV navigation (GCMVF-AGV). This framework uses a downward-looking QR vision sensor and a forward-looking visual-inertial sensor together to estimate AGV poses in real time. The downward camera provides absolute AGV positions and attitudes with reference to the global workshop frame. Furthermore, long-term visual-inertial drift, inertial biases, and velocities are periodically compensated between spatial intervals of QR codes by minimizing visual-inertial residuals with the rigid constraints of absolute poses estimated from the downward visual measurements. We have evaluated the proposed method on the developed AGV navigation platform, and experimental results demonstrate the position and attitude errors of less than 0.05 m and 2 degrees, respectively.

Ämnesord och genrebeteckningar

Automated guided vehicle (AGV) navigation
digital workshops
global consistency
multiple view
quick response (QR) code
visual-inertial fusion

Biuppslag (personer, institutioner, konferenser, titlar ...)

Li, BoShenyang Univ Technol, Sch Informat Sci & Engn, Shenyang 110020, Peoples R China. (författare)
Sun, ShijieShenyang Univ Technol, Sch Informat Sci & Engn, Shenyang 110020, Peoples R China. (författare)
Liu, YuanhaoChinese Acad Sci, Shenyang Inst Automat, Key Lab Networked Control Syst, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China.;Univ Chinese Acad Sci, Beijing 100049, Peoples R China. (författare)
Liang, WeiChinese Acad Sci, Shenyang Inst Automat, Key Lab Networked Control Syst, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China. (författare)
Xia, XiaofangXidian Univ, Sch Comp Sci & Technol, Xian 710071, Peoples R China. (författare)
Pang, ZhiboKTH,Teknisk informationsvetenskap,ABB Corp Res Sweden, Dept Automat Technol, S-72178 Västerås, Sweden(Swepub:kth)u1t26ns5 (författare)
Chinese Acad Sci, Shenyang Inst Automat, Key Lab Networked Control Syst, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China.;Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China.;Univ Chinese Acad Sci, Beijing 100049, Peoples R China.Shenyang Univ Technol, Sch Informat Sci & Engn, Shenyang 110020, Peoples R China. (creator_code:org_t)

Sammanhörande titlar

Ingår i:IEEE Transactions on Instrumentation and Measurement: Institute of Electrical and Electronics Engineers (IEEE)720018-94561557-9662

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Av författaren/redakt...: Zhang, Yinlong; Li, Bo; Sun, Shijie; Liu, Yuanhao; Liang, Wei; Xia, Xiaofang; visa fler...; Pang, Zhibo; visa färre...

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Av lärosätet: Kungliga Tekniska Högskolan

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