电子科技大学学报2026，Vol.55Issue(1)：109-115,7.DOI:10.12178/1001-0548.2024113
面向移动机器人的多传感器紧耦合导航定位方法
A tightly coupled multi-sensor fusion navigation and localization method for mobile robots
摘要
Abstract
Mobile robots relying solely on a single sensor often struggle to overcome challenges such as illumination change,external disturbances,effects of reflective surfaces,and cumulative errors,which limit their environmental perception capabilities as well as the accuracy and reliability of pose estimation.This article adopts a nonlinear optimization method to achieve a tightly coupled integrated localization and mapping system,IIVL-LM,at the data level(IMU,infrared camera,RGB camera,LiDAR).A real-time luminance conversion model based on RGB image information is proposed.The system incorporates varying luminance values into the visual SLAM model through nonlinear interpolation for real-time mapping,then fuses the feature extraction of key frames from the infrared camera and the RGB camera through dynamic weighting.In a simulated indoor rescue scenario dataset,compared to various mainstream fusion positioning methods,the IIVL-LM system exhibits a notable performance improvement under challenging luminance conditions,especially in low-light environments.The average Root Mean Square Error(RMSE)of the Absolute Trajectory Error(ATE)improved by 23%to 39%(0.006 to 0.013).The IIVL-LM system ensures that it operates with at least three active sensors at all times,thereby enhancing its robustness in unknown and open environments while maintaining precision.This capability is particularly valuable for applications in complex settings such as indoor rescue scenarios.关键词
移动机器人/多传感器融合/照度转换/非线性紧耦合/SLAMKey words
mobile robots/multi-sensor fusion/illuminance conversion/nonlinear tight coupling/SLAM分类
信息技术与安全科学引用本文复制引用
陈路,谢维斯,谭杰,陈丽竹,高勇..面向移动机器人的多传感器紧耦合导航定位方法[J].电子科技大学学报,2026,55(1):109-115,7.基金项目
人才启航计划(2025QHXM24) （2025QHXM24）
