Solving the localization problem while navigating unknown environments using the SLAM method

The urgency of the problem of localization in the general problem of navigation of unmanned ground vehicles is shown. It is noted that it is practically impossible to solve the remaining problems in navigation without the possibility of localization. A review of the approaches is performed, and prop...

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Bibliographic Details
Main Authors: Yingfei, Mei, Romanova, I. K.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Global navigation satellite system
Inertial platforms
Localization
Mathematical analysis
Mathematical models
Units of measurement
Unknown environments
Unmanned ground vehicles
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Summary:The urgency of the problem of localization in the general problem of navigation of unmanned ground vehicles is shown. It is noted that it is practically impossible to solve the remaining problems in navigation without the possibility of localization. A review of the approaches is performed, and proposals are made on methods for solving the considered problem. The existing technology of positioning is analyzed, and a positioning scheme based on an inertial measuring unit and a camera is proposed. Compared to existing technology, the new scheme performs well in non-GNSS positioning environments. A mathematical model of camera positioning and a mathematical model of an inertial unit of measurement has been created.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0074547