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Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots 被引量:8

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摘要 In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead?rcckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization approach for special environments, such as underwater caves. Owing to the rotation movement with zero-radius, the cooperative localization of Multiple Turtle-inspired Amphibious Spherical Robot (MTASRs) is realized. Firstly, we present an efficient Histogram of Oriented Gradient (HOG) and Color Names (CNs) fusion feature extracted from color images ofTASRs. Then, by training Support Vector Machine (SVM) classifier with this fusion feature, an automatic recognition method of TASRs is developed. Secondly, RGB-D camerabased measurement model is obtained by the depth map In order to realize the cooperative and relative close-range localization of MTASRs, the MTASRs model is established with RGB-D camera and IMU. Finally, the depth measurement in water is corrected and the efficiency of RGB-D camera for underwater application is validated. Then experiments of our proposed localization method with three robots were conducted and the results verified the feasibility of the proposed method for MTASRs.
出处 《Journal of Bionic Engineering》 SCIE EI CSCD 2019年第3期442-454,共13页 仿生工程学报(英文版)
基金 the National Natural Science Foundation of China (Nos. 61773064, 61503028) Graduate Technological Innovation Project of Beijing Institute of Technology (No. 2018CX10022) National High Tech. Research and Development Program of China (No. 2015AA043202).
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