2024
DOI: 10.3390/s24051710
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Research on a Visual/Ultra-Wideband Tightly Coupled Fusion Localization Algorithm

Pin Jiang,
Chen Hu,
Tingting Wang
et al.

Abstract: In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a vision SLAM/UWB tightly coupled localization method and designs a UWB non-line-of-sight error identification method using the displacement increment of the visual odometer. It utiliz… Show more

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