Simultaneous Localization and Mapping (SLAM) has used RGB camera as a prior choice of sensor traditionally. However, in dark or low-light conditions, the image quality of RGB cameras deteriorates greatly, making reliable attitude estimation difficult. In contrast, infrared cameras are not affected by changes of ambient light, making them a viable sensing alternative. In this paper, We propose a calibration method for infrared camera and IMU to achieve higher pose estimation accuracy under the conditions of low light environment and heat treatment. Meanwhile, we propose a system called I2-SLAM based on MSCKF that is suitable for fusion positioning of infrared camera and IMU. We test the performance of I2-SLAM in daytime and night scenes on the vehicle-mounted data set, and compare it with other VIO systems. In result, the fusion of the infrared camera and IMU in the night scene can achieve high accuracy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    I2-SLAM: Fusing Infrared Camera and IMU for Simultaneous Localization and Mapping


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Hua, Tong (author) / Pei, Ling (author) / Li, Tao (author) / Wu, Qi (author) / Wang, Ruochen (author) / Yu, Wenxian (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    I2-SLAM: Fusing Infrared Camera and IMU for Simultaneous Localization and Mapping

    Hua, Tong / Pei, Ling / Li, Tao et al. | British Library Conference Proceedings | 2022


    Multirobot C-SLAM: Simultaneous localization, control, and mapping

    Andrade-Cetto, Juan / Vidal-Calleja, Teresa A. / Sanfeliu, Alberto | BASE | 2005

    Free access

    Map Management for Efficient Simultaneous Localization and Mapping (SLAM)

    Dissanayake, G. / Williams, S. B. / Durrant-Whyte, H. et al. | British Library Online Contents | 2002



    EMS-SLAM: Edge-Assisted Multi-Agent System Simultaneous Localization and Mapping

    Hu, Kai / Zhan, Lei / Zou, Longhao et al. | IEEE | 2023