The IMU augment SLAM on Unmanned Vehicle for detection of protective measures in COVID-19
IEEE Sensors Journal
; : 1-1, 2022.
Article
in English
| Scopus | ID: covidwho-1961411
ABSTRACT
Detecting protective measures (e.g., masks, goggles and protective clothing) is a momentous step in the fight against COVID-19. The detection mode of unmanned devices based on Simultaneous localization and mapping (SLAM) and fusion technology is more efficient, economical and safe than the traditional manual detection. In this paper, a tightly-coupled nonlinear optimization approach is used to augment the visual feature extraction of SLAM by the gyroscope of the IMU to obtain a high-precision visual inertial system for joint position and pose estimation. Based on the VINS-Mono frame, first, an LSD algorithm based on a conditional selection strategy is proposed to extract line features efficiently. Then, we propose recovering missing point features from line features. Moreover, we propose a strategy to recover vanishing point features from line features, and add residuals to the SLAM cost function based on optimization, which optimizes point-line features in real time to promote the tracking and matching accuracy. Second, the wavelet threshold denoising method based on the 3σcriterion is used to carry out real-time online denoising for gyroscope to improve the output precision. Our WD-PL-VINS was measured on publicly available EuRoC datasets, TUM VI datasets and evaluated and validated in lab testing with a unmanned vehicle (UV) based on the NVIDIA Jetson-TX2 development board. The results show that our method’s APE and RPE on MH 03 easy sequences are improved by 69.28% and 97.66%, respectively, compared with VINS-Mono. IEEE
Cameras; COVID-19; Feature extraction; LSD algorithm based on a conditional selection strategy; Noise reduction; Real-time systems; Sensors; Simultaneous localization and mapping; SLAM; tight coupling; Visualization; wavelet threshold denoising based on the 3σ criterion; Cost functions; Mapping; Nonlinear programming; Real time systems; Robotics; Features extraction; Line features; Protective measures; Real - Time system; Wavelet threshold de-noising; Wavelet threshold denoising based on the 3σ criteria
Full text:
Available
Collection:
Databases of international organizations
Database:
Scopus
Language:
English
Journal:
IEEE Sensors Journal
Year:
2022
Document Type:
Article
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