首页|Studies from Shanghai Jiao Tong University Describe New Findings in Robotics (Vi sual-inertial Fusion With Depth Measuring for Hyper-redundant Robot's End Under Constrained Environment)
Studies from Shanghai Jiao Tong University Describe New Findings in Robotics (Vi sual-inertial Fusion With Depth Measuring for Hyper-redundant Robot's End Under Constrained Environment)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on Ro botics. According to news reporting originating in Shanghai, People's Republic o f China, by NewsRx journalists, research stated, "Hyper-redundant robots (HRRs) are used for operations in constrained environment, such as wing rib compartment s. Precise perception of the robot end is a fundamental requirement for accurate operations." Financial supporters for this research include National Natural Science Foundati on of China (NSFC), Natural Science Foundation of Shanghai. The news reporters obtained a quote from the research from Shanghai Jiao Tong Un iversity, "Conventional sensing schemes cannot be used due to environment constr aints. The environment necessitates the implementation of a real-time, self-sens ing, multimodal fusion framework. We proposed a visual-inertial sensor fusion me thod at the robot end for HRRs under constrained environment. It includes a ligh tweight device and an algorithm based on visual-inertial odometry (VIO), adding a depth-measuring module with laser spots. This module provides real-time scale factors for monocular cameras without adding sensors. It is used to synchronousl y acquire the trajectory of an HRR end under constrained environment. Experiment s on an HRR verified the accuracy and real-time performance. The root-mean-squar e error (RMSE) is 15.2 mm, and the total processing time is 28.04 ms."
ShanghaiPeople's Republic of ChinaAs iaEmerging TechnologiesMachine LearningRobotRoboticsShanghai Jiao Tong University
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