A ZUPT Aided Initialization Procedure for Tightly-coupled Lidar Inertial Odometry based SLAM System

Gui, Linqiu; Zeng, Chunnian; Dauchert, Samuel A.; Luo, Jie

doi:10.1007/s10846-023-01886-3

Cited by 3 publications

(1 citation statement)

References 30 publications

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“…This method is particularly well suited for practical applications compared to the traditional Zero Velocity Update (ZUPT) method [39]. ZUPT corrects errors during complete stationary phases, both actively and passively.…”

Section: Methodsmentioning

confidence: 99%

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

Liu,

Lin,

Wang

et al. 2023

Electronics

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Ultra-wideband (UWB) systems promise centimetre-level accuracy for indoor positioning, yet they remain susceptible to non-line-of-sight (NLOS) errors due to complex indoor environments. A fusion mechanism that integrates the UWB with an odometer sensor is introduced to address this challenge and achieve a high positioning accuracy. A sliding window method is applied to identify NLOS anchors effectively. The modified UWB-only positioning has an average error under 13 cm with an RMSE of 16 cm. Then, a loosely coupled approach named Dynamic Dimension Fusion (DDF) is designed to mitigate the odometer’s cumulative errors that achieve a remarkable average error and RMSE below 5 cm, notably superior to established unscented Kalman filter (UKF) fusion techniques. DDF utilises UWB data to correct the one-dimensional heading error of the odometer when the robot moves in a straight line and to correct both heading and mileage in two dimensions when the robot is turning. Comprehensive real-world experimental evaluations underscore the efficacy and robustness of this novel approach.

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Section: Methodsmentioning

confidence: 99%

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

Liu,

Lin,

Wang

et al. 2023

Electronics

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Robust positioning in extreme environments: a tightly coupled GNSS-vision-inertial-wheel odometer framework

Zhang,

Li,

et al. 2025

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Purpose A tightly coupled global navigation satellite system (GNSS)-Vision-IMU-wheel odometer (GVIWO) system is proposed, which can realize robust positioning in extreme environments. The purpose of this study is to achieve adaptive initialization in complex environments, sensor anomaly detection and processing, and adaptive robust localization in extreme environments. Design/methodology/approach Adaptive initialization includes traditional dynamic and static initialization and extreme condition initialization. To deal with the unstable visual features in the state of excited motion, a method of wheel odometer assisted initialization is designed. According to the abnormal condition of the sensor, the anomaly detection and attenuation mechanism are designed to realize the accurate positioning of the sensor under abnormal condition. Findings Tight coupling optimization of GNSS signals, RGB+Depth Map cameras, inertial measurement units and wheel odometers ensures accurate positioning in both indoor and outdoor environments. Through open data sets and field validation experiments, the proposed tightly coupled system has strong adaptability, especially in extreme environments. Originality/value A new framework is proposed by integrating GNSS, visual, inertial measurement unit (IMU) and wheel odometer sensors to form an efficient positioning solution. An adaptive initialization method is proposed to enhance the robustness and real-time performance of the positioning system in complex and dynamic environments. A mechanism for detecting and attenuating sensor anomalies is designed, enabling quasideterministic positioning under sensor anomalies.

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Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases

Yin,

Li,

et al. 2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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A ZUPT Aided Initialization Procedure for Tightly-coupled Lidar Inertial Odometry based SLAM System

Cited by 3 publications

References 30 publications

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

A Novel Loosely Coupling Fusion Approach of Ultra-Wideband and Wheel Odometry for Indoor Localisation

Robust positioning in extreme environments: a tightly coupled GNSS-vision-inertial-wheel odometer framework

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases

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