計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
論文
MEMSジャイロセンサと単眼カメラを利用した高精度で頑健な姿勢推定
小堀 訓成出口 大輔高橋 友和井手 一郎村瀬 洋
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47 巻 (2011) 10 号 p. 442-449

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In order to estimate accurate rotations of mobile robots and vehicle, we propose a hybrid system which combines a low-cost monocular camera with gyro sensors. Gyro sensors have drift errors that accumulate over time. On the other hand, a camera cannot obtain the rotation continuously in the case where feature points cannot be extracted from images, although the accuracy is better than gyro sensors. To solve these problems we propose a method for combining these sensors based on Extended Kalman Filter. The errors of the gyro sensors are corrected by referring to the rotations obtained from the camera. In addition, by using the reliability judgment of camera rotations and devising the state value of the Extended Kalman Filter, even when the rotation is not continuously observable from the camera, the proposed method shows a good performance. Experimental results showed the effectiveness of the proposed method.

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© 2011 公益社団法人 計測自動制御学会
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