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Rotation estimation for mobile robot based on single-axis gyroscope and monocular camera

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Abstract

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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Author information

Authors and Affiliations

  1. School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, 100083, PRC

    Ke-Hu Yang & Xiao-Qiang Ji

  2. Shanghai Key Laboratory of Trustworthy Computing, East China Normal University, Shanghai, 200062, PRC

    Wen-Sheng Yu

  3. State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, PRC

    Wen-Sheng Yu

Authors
  1. Ke-Hu Yang
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  2. Wen-Sheng Yu
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  3. Xiao-Qiang Ji
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Corresponding author

Correspondence to Ke-Hu Yang.

Additional information

This work was supported by National Natural Science Foundation of China (Nos. 60874010 and 61070048), Innovation Program of Shanghai Municipal Education Commission (No. 11ZZ37), Fundamental Research Funds for the Central Universities (No. 009QJ12), and Collaborative Construction Project of Beijing Municipal Commission of Education.

Ke-Hu Yang received the B. Sc. degree in measurement and control technology and instrumentation from Northwestern Polytechnical University, Xi’an, PRC in 2003, and the Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, PRC in 2009. Then he joined the School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, PRC.

His research interests include industrial control theories and applications, intelligent robot navigation and control, and power electronics.

Wen-Sheng Yu received the Ph.D. degree in dynamics and control from Peking University, Beijing, RPC in 1998. Then he joined the Institute of Automation, Chinese Academy of Sciences, Beijing, PRC, where he was promoted from assistant researcher to associate professor in 1999, to professor in 2004. He was a visiting research fellow in University of Melbourne from 2001 to 2002. Since 2009, he has been professor in Shanghai Key Laboratory of Trustworthy Computing, East China Normal University, Shanghai, PRC. He is an author/coauthor of numerous articles in journals and conference proceedings, which span the fundamental fields of control theory and control engineering and applied mathematics.

His research interests include robust and optimal control, adaptive filter theory and linear estimation, control theory and control engineering, robotics and control, complex systems and control, signal processing and communications, algorithms research for robust control, and mechanization for control theory.

Xiao-Qiang Ji is a master student at the School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, PRC. His major is measurement and control technology and instrumentation.

His research interests include intelligent control and intelligent robotics.

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Yang, KH., Yu, WS. & Ji, XQ. Rotation estimation for mobile robot based on single-axis gyroscope and monocular camera. Int. J. Autom. Comput. 9, 292–298 (2012). https://doi.org/10.1007/s11633-012-0647-z

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  • DOI: https://doi.org/10.1007/s11633-012-0647-z

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