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 journalArticlepeer-review

15 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 languageEnglish
Article number935
JournalSensors (Switzerland)
Volume18
Issue number4
DOIs
Publication statusPublished - 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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