标题：A spatial pose measurement scheme by using IMU and AprilTag Technologies
作者：Li, Min ;Zhang, Chengjin
作者机构：[Li, Min ;Zhang, Chengjin ] School of Mechanical, Electrical Information Engineering, Shandong University, Weihai, China
会议名称：2018 IEEE International Conference on Information and Automation, ICIA 2018
会议日期：11 August 2018 through 13 August 2018
来源：2018 IEEE International Conference on Information and Automation, ICIA 2018
关键词：AprilTag; Extended Kalman filtering; IMU; Pose
摘要：In many workspaces, robots need to obtain their own speed and precise pose for motion control, navigation, and interaction with the environment. The inertial measurement unit (IMU) is inaccurate due to its own accumulated error which can obtain spatial information of the six degrees of freedom, but its advantage is that it can obtain real-time spatial information. AprilTags are designed for high localization accuracy and the precise 3D position of the AprilTag with respect to the camera can be computed; due to the slow update rate, its real-time performance is relatively poor. In order to get accurate and real-time spatial pose, an extended Kalman filter is implemented to fuse visual and inertial data, which provides accurate estimates. © 2018 IEEE.