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GNSS World of China

GNSS World of China

Volume 49 Issue 3
May  2024
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Abstract
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LI Zhizheng, NIE Zhixi, WANG Zhenjie, ZHANG Yuanfan. Improved vision/inertial guidance fusion localization algorithm for vision front-end[J]. GNSS World of China, 2024, 49(3): 20-27. DOI: 10.12265/j.gnss.2024024
Citation: LI Zhizheng, NIE Zhixi, WANG Zhenjie, ZHANG Yuanfan. Improved vision/inertial guidance fusion localization algorithm for vision front-end[J]. GNSS World of China, 2024, 49(3): 20-27. DOI: 10.12265/j.gnss.2024024
shu

Improved vision/inertial guidance fusion localization algorithm for vision front-end

  • College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao 266580, China

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  • Received Date: January 30, 2024
  • Available Online: May 10, 2024
    Graphical Abstract
    • Abstract
  • Aiming at the problem of high-precision positioning of mobile robot in Global Navigation Satellite System GNSS denied environment, An adaptive thresholding adaptive and generic accelerated segment test AGAST feature detection algorithm is proposed to improve the visual front-end of a vision/inertial guidance fusion localization system for mobile robots. The algorithm improves the visual odometry computation method by local histogram equalization and adaptive threshold detection, improves the quality of feature point extraction, and enhances the positioning accuracy and stability of visual odometry in complex environments. Visual odometry and inertial navigation system are fused based on factor graph optimization algorithm to realize high-precision positioning of mobile robot. The results show that, compared with the mainstream VINS-Mono algorithm, the proposed algorithm improves the positioning accuracy by 22.8% in the experiment of indoor data set and 59.7% in the experiment of outdoor data set, the proposed algorithm perform better than VINS-Mono algorithm in both two experiments and it can provide better positioning services for mobile robots.
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    • References (19)
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