Скачать или смотреть [AuRO] Tightly-Coupled Ultra-wideband-Aided Monocular VSLAM with Degenerate Anchor Configurations

"Tightly-Coupled Ultra-wideband-Aided Monocular Visual SLAM with Degenerate Anchor Configurations",
by Thien Hoang Nguyen,
Thien-Minh Nguyen,
and Lihua Xie.

Paper link: https://link.springer.com/article/10....

Abstract
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In this work, a UWB-aided monocular VSLAM system is proposed, which fuses UWB range measurements and monocular images in a tightly-coupled fashion. The method simultaneously solves the scale issues, localizes the UWB anchors and limits the inevitable drift of the VSLAM system, without carefully crafted initial estimates of neither. The system is designed to handle cases where the number of UWB anchors is not enough to perform 3D triangulation, i.e. N ≤ 3 with no prior height information. Experimental results in diverse environments demonstrate the performance in achieving metric-scale, drift-reduced odometry is on par and even exceeds state-of-the-art VI-SLAM methods, as well as in obtaining an accurate map of UWB anchors even with coarse initial guesses.