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Rotation Estimation for Mobile Robot Based on Single-axis Gyroscope and Monocular Camera
  • 期刊名称：International Journal of Automation and Computing
  • 时间：2012.6.6
  • 页码：292-298
  • 分类：TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 相关基金：supported by National Natural Science Foundation of China (Nos. 60874010 and 61070048)
  • 相关项目：网络化信息物理计算基础研究
作者： Ke-Hu Yang|Wen-Sheng Yu|Xiao-Qiang Ji|
关键词： Rotation, matrix, estimation, QUATERNION, extended, KALMAN, filter, (EKF), MONOCULAR, camera, gyroscope.
中文摘要：

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.

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