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Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation. / Glukhov, Oleg V.; Akinfiev, Ivan A.; Razorvin, Andrey D.; Chugunov, Alexander A.; Gutarev, Dmitriy A.; Serov, Sergey A.

2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE). Vol. 5 2023. p. 1-7.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review

Harvard

Glukhov, OV, Akinfiev, IA, Razorvin, AD, Chugunov, AA, Gutarev, DA & Serov, SA 2023, Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation. in 2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE). vol. 5, pp. 1-7, 5th 2023 International Youth Conference on Radio Electronics, Electrical and Power Engineering, Москва, Russian Federation, 16/03/23. https://doi.org/10.1109/reepe57272.2023.10086807

APA

Glukhov, O. V., Akinfiev, I. A., Razorvin, A. D., Chugunov, A. A., Gutarev, D. A., & Serov, S. A. (2023). Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation. In 2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE) (Vol. 5, pp. 1-7) https://doi.org/10.1109/reepe57272.2023.10086807

Vancouver

Glukhov OV, Akinfiev IA, Razorvin AD, Chugunov AA, Gutarev DA, Serov SA. Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation. In 2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE). Vol. 5. 2023. p. 1-7 https://doi.org/10.1109/reepe57272.2023.10086807

Author

Glukhov, Oleg V. ; Akinfiev, Ivan A. ; Razorvin, Andrey D. ; Chugunov, Alexander A. ; Gutarev, Dmitriy A. ; Serov, Sergey A. / Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation. 2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE). Vol. 5 2023. pp. 1-7

BibTeX

@inproceedings{dfff3f701b8f4e2baff73617c1cf8648,
title = "Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation",
abstract = "This paper explores the prospects of using a stereo camera mounted on a wheeled robot as an additional source of navigation information in the partial absence of navigation measurements from the ultra-wide band (UWB) reference radio infrastructure in an indoor room. Five algorithms based on the Extended Kalman Filter (EKF) with different configurations of measured navigation parameters were synthesized. Two experiments were conducted, and according to the results, the gain in accuracy for rectilinear motion of the robot from the use of the integrated system was 1.4 times by the distance root mean square (DRMS) criteria. For curved motion, the maximum gain was 9.5 times by the DRMS criteria.",
keywords = "EKF, UWB, indoor positioning, mobile robots, stereo camera",
author = "Glukhov, {Oleg V.} and Akinfiev, {Ivan A.} and Razorvin, {Andrey D.} and Chugunov, {Alexander A.} and Gutarev, {Dmitriy A.} and Serov, {Sergey A.}",
year = "2023",
month = mar,
day = "16",
doi = "10.1109/reepe57272.2023.10086807",
language = "English",
isbn = "9798350399523",
volume = "5",
pages = "1--7",
booktitle = "2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)",
note = "null ; Conference date: 16-03-2023 Through 18-03-2023",
url = "https://reepe.mpei.ru/IEEE/Pages/default.aspx",

}

RIS

TY - GEN

T1 - Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation

AU - Glukhov, Oleg V.

AU - Akinfiev, Ivan A.

AU - Razorvin, Andrey D.

AU - Chugunov, Alexander A.

AU - Gutarev, Dmitriy A.

AU - Serov, Sergey A.

N1 - Conference code: 5

PY - 2023/3/16

Y1 - 2023/3/16

N2 - This paper explores the prospects of using a stereo camera mounted on a wheeled robot as an additional source of navigation information in the partial absence of navigation measurements from the ultra-wide band (UWB) reference radio infrastructure in an indoor room. Five algorithms based on the Extended Kalman Filter (EKF) with different configurations of measured navigation parameters were synthesized. Two experiments were conducted, and according to the results, the gain in accuracy for rectilinear motion of the robot from the use of the integrated system was 1.4 times by the distance root mean square (DRMS) criteria. For curved motion, the maximum gain was 9.5 times by the DRMS criteria.

AB - This paper explores the prospects of using a stereo camera mounted on a wheeled robot as an additional source of navigation information in the partial absence of navigation measurements from the ultra-wide band (UWB) reference radio infrastructure in an indoor room. Five algorithms based on the Extended Kalman Filter (EKF) with different configurations of measured navigation parameters were synthesized. Two experiments were conducted, and according to the results, the gain in accuracy for rectilinear motion of the robot from the use of the integrated system was 1.4 times by the distance root mean square (DRMS) criteria. For curved motion, the maximum gain was 9.5 times by the DRMS criteria.

KW - EKF

KW - UWB

KW - indoor positioning

KW - mobile robots

KW - stereo camera

UR - https://www.mendeley.com/catalogue/509f675b-c835-3985-abbd-c0172474f510/

U2 - 10.1109/reepe57272.2023.10086807

DO - 10.1109/reepe57272.2023.10086807

M3 - Conference contribution

SN - 9798350399523

VL - 5

SP - 1

EP - 7

BT - 2023 5th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)

Y2 - 16 March 2023 through 18 March 2023

ER -

ID: 108469728