Research on visual-inertial localization with planar two-dimensional code markers

Qinghe Liu; Ning Zhou; Lingming Kong; Kuan Zhang; Haolin Zhou

doi:10.1117/12.2624058

6 February 2022 Research on visual-inertial localization with planar two-dimensional code markers

Qinghe Liu, Ning Zhou, Lingming Kong, Kuan Zhang, Haolin Zhou

Proceedings Volume 12081, Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021); 120813W (2022) https://doi.org/10.1117/12.2624058
Event: Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021), 2021, Chongqing, China

Abstract

Nowadays, visual-inertial localization method is becoming a hotspot of research, but this localization method is based on odometry, which will produce cumulative error. So it needs absolute position information to help to correct. In order to solve the above problems, this paper proposes a method which adding two-dimensional code marker to assist localization based on visual-inertial localization system. The aim of this method is to eliminate the cumulative errors generated by the localization method of odometry and improving the positioning accuracy. The principle of visual-inertial localization and two-dimensional code marker localization are introduced, and the localization method is verified by experiments. Finally, the experimental results are analyzed.

Citation Download Citation

Qinghe Liu, Ning Zhou, Lingming Kong, Kuan Zhang, and Haolin Zhou "Research on visual-inertial localization with planar two-dimensional code markers", Proc. SPIE 12081, Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021), 120813W (6 February 2022); https://doi.org/10.1117/12.2624058

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KEYWORDS

Cameras

Visualization

Data processing

Image compression

Image processing

Imaging systems

Motion estimation

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