单片机与嵌入式系统应用2017，Vol.17Issue(7)：63-66,70,5.
二维码修正EKF-SLAM定位的室内无人驾驶小车
Indoor Self-driving of QR Code Modified EKF-SLAM
尚明超 1杨斌 1张翠芳1
作者信息
- 1. 西南交通大学 智能系统与控制实验室,成都 611756
- 折叠
摘要
Abstract
EKF-SLAM(Simultaneous Localization and Mapping) is often used in the localization method of self-driving.If there is only encoder sensor in this way,the accumulated error will be greater and greater because of long-time running and the accuracy of positioning will become inaccuracy.So the location information may be secondary.Thanks to convenience and usability of QR code,the method of QR code artificial landmarks that support absolute position information is adopted in this paper,that increases the positioning accuracy.In the meanwhile,the Kalman filter is used to fusion the multiple data.The experiment results show that the scheme is feasibility and practicality.关键词
二维码人工路标/EKF-SLAM/数据融合/MEMS/STM32F205/MINNOWBOARDKey words
QR code artificial landmarks/EKF-SLAM/data fusion/MEMS/STM32F205/MINNOWBOARD分类
计算机与自动化引用本文复制引用
尚明超,杨斌,张翠芳..二维码修正EKF-SLAM定位的室内无人驾驶小车[J].单片机与嵌入式系统应用,2017,17(7):63-66,70,5.
