Global Localization Based on Tether and Visual-Inertial Odometry With Adsorption Constraints for Climbing Robots.
Zhenfeng GuZeyu GongBo TaoZhouping YinHan DingPublished in: IEEE Trans. Ind. Informatics (2023)
Keyphrases
- inertial sensors
- physical constraints
- mobile robot
- visual perception
- position estimation
- visual features
- visual information
- sensor fusion
- robot localization
- robotic systems
- low level
- object localization
- constraint satisfaction
- cooperative
- global constraints
- simultaneous localization and mapping
- global consistency
- unknown environments
- map building
- visual sensor
- position and orientation
- geometric constraints
- dynamic model
- localization algorithm
- maximum likelihood