Tightly Coupled Monocular-Inertial-Pressure Sensor Fusion for Underwater Localization of a Biomimetic Robotic Manta
文献类型：期刊论文
| 作者 | Ma, Shaoxuan1,2; Wang, Jian1,2 ; Huang, Yupei1,2; Meng, Yan3; Tan, Min1,2; Yu, Junzhi3; Wu, Zhengxing1,2
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| 刊名 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
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| 出版日期 | 2024 |
| 卷号 | 73页码:11 |
| 关键词 | Biomimetic manta monocular initialization multisensor fusion simultaneous localization and mapping underwater odometry Biomimetic manta monocular initialization multisensor fusion simultaneous localization and mapping underwater odometry |
| ISSN号 | 0018-9456 |
| DOI | 10.1109/TIM.2024.3420371 |
| 通讯作者 | Wu, Zhengxing(zhengxing.wu@ia.ac.cn) |
| 英文摘要 | This article proposes a novel tightly coupled monocular-inertial-pressure (IP) sensor fusion method for underwater localization of a biomimetic robotic manta. Based on the ORB-SLAM3 monocular visual-inertial odometry (VIO) model, the depth measurement from a pressure sensor is incorporated, and a novel approach is provided to associate low-frequency pressure measurements with high-frequency frames by utilizing only the relative depth between two adjacent keyframes as measurements. To address the challenge of scale estimation uncertainty in monocular odometry systems, a two-step monocular initialization strategy is proposed, involving an initial estimate based on visual-pressure (VP) measurements and a subsequent tightly coupled inertial pressure depth residual construction, which results in a significantly improved scale estimate compared to conventional monocular inertial odometry systems. After the successful initialization of the monocular system, a novel visual-inertial-pressure (VIP) joint optimization method is proposed to enhance the localization and attitude estimation accuracy. Extensive experiments are carried out on both open-source datasets and real-world underwater datasets collected by a biomimetic robotic manta. The experimental results demonstrate the effectiveness of the proposed method in significantly improving both the position and attitude estimation of the biomimetic robotic manta. This research provides valuable insights for enhancing the underwater localization capability of biomimetic robotic systems. |
| WOS关键词 | ROBUST |
| 资助项目 | National Natural Science Foundation of China[62303020] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62373353] ; Beijing Nova Program[20230484457] ; Beijing Natural Science Foundation[JL23006] ; Postdoctoral Innovative Talent Support Program[BX20220001] |
| WOS研究方向 | Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001270591100009 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Beijing Nova Program ; Beijing Natural Science Foundation ; Postdoctoral Innovative Talent Support Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/59245]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Wu, Zhengxing |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Key Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Ma, Shaoxuan,Wang, Jian,Huang, Yupei,et al. Tightly Coupled Monocular-Inertial-Pressure Sensor Fusion for Underwater Localization of a Biomimetic Robotic Manta[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2024,73:11. |
| APA | Ma, Shaoxuan.,Wang, Jian.,Huang, Yupei.,Meng, Yan.,Tan, Min.,...&Wu, Zhengxing.(2024).Tightly Coupled Monocular-Inertial-Pressure Sensor Fusion for Underwater Localization of a Biomimetic Robotic Manta.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,73,11. |
| MLA | Ma, Shaoxuan,et al."Tightly Coupled Monocular-Inertial-Pressure Sensor Fusion for Underwater Localization of a Biomimetic Robotic Manta".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73(2024):11. |
入库方式： OAI收割
来源：自动化研究所
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