EKF-Based 6D SLAM for Air-Duct Cleaning Robot Using Inertial Sensor and Stereo Vision

Abstract:

The air-duct cleaning robot (ADCR) is an effective and safe tool for accomplishing terrible cleaning work in an air-duct network. In this paper, a six-dimensional simultaneous localizing and mapping algorithm based on multi-sensor information fusion is proposed to improve the ADCR's autonomous ability in unknown duct environment. By combing an inertial measurement unit (IMU) with a stereo camera and fusing the measurements of sensors with the extended Kalman filter, the uncertainty of measurement caused by noises can be bounded in a low level. Furthermore, the performance of the proposed scheme was proved to be accurate and robust with experiments in an experimental ventilation-duct environment.

• Periodical: Applied Mechanics and Materials (Volumes 313-314)
• Pages: 941-945
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.313-314.941
• Online since: March 2013
• Authors: Cong Wang, Wei Sun, De Xu Bu, Zhi Wei Zhou
• Keywords: Air-Duct Cleaning Robot, EKF, Inertial Navigation, SLAM, Stereo Vision

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