Research On Robot Localization Algorithm Fusion With IMU And Kinect

Mobile robot localization technology is one of the key technologies to realizeautonomous navigation. With the development of image processing and computer visiontechnology, localization technology which based on vision sensor is widely used in robotlocalization system. Kinect is a sensor which can provide RGBD image and depth RGBDimage. Visual odometry technology based on Kinect does feature extraction and matchingusing the collected image information, then does motion estimation to calculate the motionparameters of the camera, like tradition visual odometry technology does. The differenceis that Kinect visual odometry technology can optimize the position of the camera by pointcloud matching technology using the depth information of environment. So visualodometry technology based on Kinect has higher accuracy in localization than traditionvisual odometry technology. But owing to the dependence on image information,mismatching error will happen in special circumstances. Moreover the cumulative errorcannot be modified because of the only rely on a single sensor.Integrated navigation technology has played great role in promoting the localizationand navigation performance in the robot navigation system, so the combination of theinertial navigation technology and visual navigation technology is proposed in this paperto research the improvement of localization performance using multi-sensor fusiontechnology. In the process of robot localization fusion in the attitude and displacement,weighted average method is used for the attitude fusion, extended Kalman filter is used forthe displacement fusion. Finally, three wheeled mobile robot platform and ROS softwareplatform are built, and two groups of test environment of different movement patterns anddifferent local scene are layout to analyze and verify the improved localization algorithm.