Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cho, HyunGi | - |
dc.contributor.author | Yeon, Suyong | - |
dc.contributor.author | Choi, Hyunga | - |
dc.contributor.author | Doh, Nakju | - |
dc.date.accessioned | 2021-09-02T12:51:04Z | - |
dc.date.available | 2021-09-02T12:51:04Z | - |
dc.date.created | 2021-06-16 | - |
dc.date.issued | 2018-04 | - |
dc.identifier.issn | 1424-8220 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/76222 | - |
dc.description.abstract | In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit's (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | MDPI | - |
dc.subject | LASER SCANNER | - |
dc.subject | NAVIGATION | - |
dc.title | Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, Nakju | - |
dc.identifier.doi | 10.3390/s18040935 | - |
dc.identifier.scopusid | 2-s2.0-85044279801 | - |
dc.identifier.wosid | 000435574800007 | - |
dc.identifier.bibliographicCitation | SENSORS, v.18, no.4 | - |
dc.relation.isPartOf | SENSORS | - |
dc.citation.title | SENSORS | - |
dc.citation.volume | 18 | - |
dc.citation.number | 4 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Chemistry | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Chemistry, Analytical | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.subject.keywordPlus | LASER SCANNER | - |
dc.subject.keywordPlus | NAVIGATION | - |
dc.subject.keywordAuthor | degeneracy | - |
dc.subject.keywordAuthor | inertial measurement unit (IMU)-Kinect integration | - |
dc.subject.keywordAuthor | plane feature | - |
dc.subject.keywordAuthor | pose estimation | - |
dc.subject.keywordAuthor | simultaneous localization and mapping (SLAM) | - |
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