A Flying Robot Localization Method Based on Multi-Sensor Fusion. (6th November 2014)

• Record Type: Journal Article
• Authors: Liu, Changan; Zhang, Sheng; Wu, Hua; Dong, Ruifang
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 11(2014)
• Publication Date: 2014-11-06
• Subjects: Flying Robot -- Power-tower Inspection -- Multi-sensor Fusion-based Localization; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58927
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper proposes a novel localization method for a power-tower-inspection flying robot based on fusion of vision, IMU and GPS. First, the research background is introduced in relation to a visual localization algorithm derived from 3D-model-based tracking and a coordinate transformation model for related coordinate frames. Then, a multi-sensor fusion-based localization method is presented, in which two collaborative Kalman filters are designed to fuse IMU/GPS and visual information. Finally, experimental results are presented to show the robustness and precision of the proposed method.