• View Times: 13
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  • Release Date: 2022-08-13
  • integrated odometry
  • pre-integration
  • visual marker
Video Introduction

This video is adapted from 10.3390/s22134749

Researchers propose a visual marker-aided lidar/IMU/encoder integrated odometry, Marked-LIEO, to achieve pose estimation of mobile robots in indoor long corridor environment. Aiming at the problems of GNSS information loss and lidar degradation in indoor corridor environment, this method introduces the state prediction information of encoder and IMU and the absolute obser-vation information of visual marker to achieve the accurate pose of indoor corridor environment, which has been verified by experiments in Gazebo simulation environment and real environment. 

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Chen, B.;  Zhao, H.; Zhu, R.; Hu, Y. Marked-LIEO. Encyclopedia. Available online: (accessed on 14 April 2024).
Chen B,  Zhao H, Zhu R, Hu Y. Marked-LIEO. Encyclopedia. Available at: Accessed April 14, 2024.
Chen, Baifan, Haowu Zhao, Ruyi Zhu, Yemin Hu. "Marked-LIEO" Encyclopedia, (accessed April 14, 2024).
Chen, B.,  Zhao, H., Zhu, R., & Hu, Y. (2022, August 13). Marked-LIEO. In Encyclopedia.
Chen, Baifan, et al. "Marked-LIEO." Encyclopedia. Web. 13 August, 2022.