Kinematic chain based multi-joint capturing using monocular visual-inertial measurements
文献类型：会议论文
| 作者 | Liang W(梁炜) ; Zhang YL(张吟龙); He, Hongsheng; Tan JD(谈金东)
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| 出版日期 | 2017 |
| 会议名称 | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 |
| 会议日期 | September 24-28, 2017 |
| 会议地点 | Vancouver, Canada |
| 页码 | 1818-1823 |
| 通讯作者 | Liang W(梁炜) |
| 中文摘要 | Combining light-weight visual and inertial modalities for motion capturing has been popular in robotics researches. There exist scale ambiguity, inaccurate pose estimation with little or no baseline, incremental drifts over time in visual-inertial fusion. Thus, in this paper, we propose a robust motion capturing method based on the multi-joint kinematic chain using monocular visual-inertial sensors. Our method is able to recover monocular visual scale through the joint geometry constraint. Additionally, we take inertial pre-integration to assist visual outlier removal using Maximum A Posteriori method. Ultimately, the kinematic chain model is leveraged to constrain the associated multiple visual-inertial estimation drifts during long time tracking. In the experiments, we conduct multi-joint capturing on a robotic arm. The quality of motion reconstruction is evaluated by comparing the estimated results with the measurements from an optical motion tracking system OptiTrack. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | AIRA; Amazon; Bosch; Clearpath; et al.; Guangdong University of Technology |
| 会议录 | IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2153-0858 |
| ISBN号 | 978-1-5386-2682-5 |
| WOS记录号 | WOS:000426978202021 |
| 源URL | [http://ir.sia.cn/handle/173321/21539]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 作者单位 | 1.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville 2.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Department of Electrical Engineering and Computer Science, Wichita State University, Wichita 4.KS 67260, United States 5.TN 37996, United States |
| 推荐引用方式 GB/T 7714 | Liang W,Zhang YL,He, Hongsheng,et al. Kinematic chain based multi-joint capturing using monocular visual-inertial measurements[C]. 见:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017. Vancouver, Canada. September 24-28, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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