Research on Localization Method of Underground Unmanned Vehicle Based on the Fusion of Visual Cameras and Inertial Sensors
The simultaneous localization and mapping(SLAM)technology is one of the key technologies for autonomous operation of mining underground vehicles in complex environments.A global localization method based on the fusion of visual cameras and inertial sensors was proposed by the algorithm of ORB-SLAM3.A map point management mechanism was used to simplify the feature point management in the ORB-SLAM3 algorithm,so as to improve the accuracy of feature point matching.The experimental results show that the new fusion localization method improves the performance by an average of 50.5％,8.89％,and 77.46％in five sequences of public datasets under the modes of single-eye,double-eye,and double-eye+IMU,which is more advantageous than the previous generation of ORB-SLAM algorithm.In the field test of mining underground,the new fusion localization method achieves a higher global trajectory accuracy in the optimal mode,with a global trajectory error of only 0.4 m.In practical application,it not only has better performance,but also has lower deployment cost and great potential.
万方数据
维普
