Kinematic chain based multi-joint capturing using monocular visual-inertial measurements

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	Kinematic chain based multi-joint capturing using monocular visual-inertial measurements
	Liang W(梁炜); Zhang YL(张吟龙); He, Hongsheng ; Tan JD(谈金东)
	2017
会议名称	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
会议日期	September 24-28, 2017
会议地点	Vancouver, Canada
页码	1818-1823
通讯作者	Liang W(梁炜)
中文摘要	Combining light-weight visual and inertial modalities for motion capturing has been popular in robotics researches. There exist scale ambiguity, inaccurate pose estimation with little or no baseline, incremental drifts over time in visual-inertial fusion. Thus, in this paper, we propose a robust motion capturing method based on the multi-joint kinematic chain using monocular visual-inertial sensors. Our method is able to recover monocular visual scale through the joint geometry constraint. Additionally, we take inertial pre-integration to assist visual outlier removal using Maximum A Posteriori method. Ultimately, the kinematic chain model is leveraged to constrain the associated multiple visual-inertial estimation drifts during long time tracking. In the experiments, we conduct multi-joint capturing on a robotic arm. The quality of motion reconstruction is evaluated by comparing the estimated results with the measurements from an optical motion tracking system OptiTrack.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	AIRA; Amazon; Bosch; Clearpath; et al.; Guangdong University of Technology
会议录	IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2153-0858
ISBN号	978-1-5386-2682-5
WOS记录号	WOS:000426978202021
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21539]
专题	沈阳自动化研究所_工业控制网络与系统研究室
作者单位	1.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville 2.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Department of Electrical Engineering and Computer Science, Wichita State University, Wichita 4.KS 67260, United States 5.TN 37996, United States
推荐引用方式 GB/T 7714	Liang W,Zhang YL,He, Hongsheng,et al. Kinematic chain based multi-joint capturing using monocular visual-inertial measurements[C]. 见:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017. Vancouver, Canada. September 24-28, 2017.