18646793. HIGH-PRECISION ODOMETRY ESTIMATION METHOD BASED ON DOUBLE-LAYER FILTERING FRAMEWORK simplified abstract (ZHEJIANG UNIVERSITY)

HIGH-PRECISION ODOMETRY ESTIMATION METHOD BASED ON DOUBLE-LAYER FILTERING FRAMEWORK

Organization Name

ZHEJIANG UNIVERSITY

Inventor(s)

Yue Wang of Hangzhou (CN)

Shenhan Jia of Hangzhou (CN)

Fuzhang Han of Hangzhou (CN)

Rong Xiong of Hangzhou (CN)

HIGH-PRECISION ODOMETRY ESTIMATION METHOD BASED ON DOUBLE-LAYER FILTERING FRAMEWORK - A simplified explanation of the abstract

This abstract first appeared for US patent application 18646793 titled 'HIGH-PRECISION ODOMETRY ESTIMATION METHOD BASED ON DOUBLE-LAYER FILTERING FRAMEWORK

Simplified Explanation

This patent application describes a method for high-precision odometry estimation in quadruped mobile robots using a double-layer filtering framework.

Key Features and Innovation

• Acquiring sensing information from various sources including a binocular camera, IMUs, joint motors, and force sensors.
• Utilizing a bottom-layer legged filter to fuse rotation and velocity data to obtain velocity observations.
• Inputting velocity observations into an upper-layer filter along with information from the main body IMU and binocular camera for comprehensive information fusion.
• Outputting an accurate odometry estimation result for the robot's autonomous positioning during rapid movement.

Potential Applications

This technology can be applied in various fields such as robotics, autonomous navigation, and mobile robotics research.

Problems Solved

This method addresses the challenge of accurately estimating the position of quadruped mobile robots during rapid movement, improving their overall autonomy and navigation capabilities.

Benefits

• Enhanced precision in odometry estimation for quadruped mobile robots.
• Improved autonomous positioning during rapid movement.
• Increased efficiency and reliability in robot navigation tasks.

Commercial Applications

• Autonomous robots for industrial settings.
• Robotic platforms for research and development in mobile robotics.
• Navigation systems for unmanned ground vehicles.

Prior Art

Readers interested in prior art related to this technology can explore research papers, patents, and publications in the fields of robotics, sensor fusion, and mobile robot navigation.

Frequently Updated Research

Stay updated on advancements in sensor fusion techniques, odometry estimation methods, and autonomous navigation algorithms for mobile robots.

Questions about High-Precision Odometry Estimation

How does this method improve the accuracy of odometry estimation in quadruped mobile robots?

This method enhances accuracy by fusing data from multiple sensors and filtering layers to provide a comprehensive and precise odometry estimation result.

What are the potential implications of this technology in the field of robotics research?

This technology can significantly impact robotics research by enabling more advanced and reliable autonomous navigation capabilities in quadruped mobile robots.

Original Abstract Submitted

A high-precision odometry estimation method based on a double-layer filtering framework, comprising the following steps: acquiring sensing information of a binocular camera, a main body IMU, a legged auxiliary IMU, a legged joint motor and a foot end force sensor; fusing the rotation angle and rotational velocity of the legged joint motor, and the measurement information of the legged auxiliary IMU and the foot end force sensor by a bottom-layer legged filter to obtain a velocity observation in a legged auxiliary IMU coordinate system; then inputting the velocity observation into an upper-layer filter, and fusing the acquired observation information of the main body IMU and binocular camera by the upper-layer filter to complete information fusion and outputting an odometry estimation result of a robot. The method can provide an effective solution for the autonomous positioning of the quadruped mobile robot in the rapid movement.