Detection and compensation of degeneracy cases for IMU-kinect integrated continuous SLAM with plane features

Hyun Gi Cho; Suyong Yeon; Hyunga Choi; Nakju Doh

doi:10.3390/s18040935

Detection and compensation of degeneracy cases for IMU-kinect integrated continuous SLAM with plane features

Hyun Gi Cho, Suyong Yeon, Hyunga Choi, Nakju Doh

Research output: Contribution to journal › Article › peer-review

20 Citations (Scopus)

Abstract

In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit’s (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations.

Original language	English
Article number	935
Journal	Sensors (Switzerland)
Volume	18
Issue number	4
DOIs	https://doi.org/10.3390/s18040935
Publication status	Published - 2018 Apr

Bibliographical note

Funding Information:
This work was partly supported by the Brain Korea 21 Plus Project of School of Electrical Engineering, Korea University, a National Research Foundation of Korea (NRF) grant (No. 2011-0031648) funded by the Ministry of Science and ICT (MSIT), a Korea Evaluation Institute of Industrial Technology (KEIT) grant (No. 10073166) funded by the Ministry of Trade, Industry and Energy (MOTIE), and a grant (No. 17NSIP-B135746-01) funded by the Ministry of Land, Infrastructure and Transport (MOLIT), Republic of Korea.

Funding Information:
Acknowledgments: This work was partly supported by the Brain Korea 21 Plus Project of School of Electrical Engineering, Korea University, a National Research Foundation of Korea (NRF) grant (No. 2011-0031648) funded by the Ministry of Science and ICT (MSIT), a Korea Evaluation Institute of Industrial Technology (KEIT) grant (No. 10073166) funded by the Ministry of Trade, Industry and Energy (MOTIE), and a grant (No. 17NSIP-B135746-01) funded by the Ministry of Land, Infrastructure and Transport (MOLIT), Republic of Korea.

Publisher Copyright:
© 2018 by the authors. Licensee MDPI, Basel, Switzerland.

Keywords

Degeneracy
Inertial measurement unit (IMU)-Kinect integration
Plane feature
Pose estimation
Simultaneous localization and mapping (SLAM)

ASJC Scopus subject areas

Analytical Chemistry
Biochemistry
Atomic and Molecular Physics, and Optics
Instrumentation
Electrical and Electronic Engineering

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10.3390/s18040935

Cite this

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title = "Detection and compensation of degeneracy cases for IMU-kinect integrated continuous SLAM with plane features",

abstract = "In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit{\textquoteright}s (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations.",

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author = "Cho, {Hyun Gi} and Suyong Yeon and Hyunga Choi and Nakju Doh",

note = "Funding Information: This work was partly supported by the Brain Korea 21 Plus Project of School of Electrical Engineering, Korea University, a National Research Foundation of Korea (NRF) grant (No. 2011-0031648) funded by the Ministry of Science and ICT (MSIT), a Korea Evaluation Institute of Industrial Technology (KEIT) grant (No. 10073166) funded by the Ministry of Trade, Industry and Energy (MOTIE), and a grant (No. 17NSIP-B135746-01) funded by the Ministry of Land, Infrastructure and Transport (MOLIT), Republic of Korea. Funding Information: Acknowledgments: This work was partly supported by the Brain Korea 21 Plus Project of School of Electrical Engineering, Korea University, a National Research Foundation of Korea (NRF) grant (No. 2011-0031648) funded by the Ministry of Science and ICT (MSIT), a Korea Evaluation Institute of Industrial Technology (KEIT) grant (No. 10073166) funded by the Ministry of Trade, Industry and Energy (MOTIE), and a grant (No. 17NSIP-B135746-01) funded by the Ministry of Land, Infrastructure and Transport (MOLIT), Republic of Korea. Publisher Copyright: {\textcopyright} 2018 by the authors. Licensee MDPI, Basel, Switzerland.",

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Detection and compensation of degeneracy cases for IMU-kinect integrated continuous SLAM with plane features

Abstract

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Keywords

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