Rotation estimation for mobile robot based on single-axis gyroscope and monocular camera

Authors:
Ke-Hu Yang;Wen-Sheng Yu;Xiao-Qiang Ji
Affiliations:
School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, PRC 100083;Shanghai Key Laboratory of Trustworthy Computing, East China Normal University, Shanghai, PRC 200062 and State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of ...;School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, PRC 100083
Venue:
International Journal of Automation and Computing
Year:
2012

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Abstract

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot's yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.