Asynchronous fusion in positioning of mobile robot based on vision-aided inertial navigation

This paper presents a binocular vision-aided inertial navigation system of mobile robot for positioning and navigation in the GPS-denied environment with fuzzy map. The system consists of two common cameras and a low-cost inertial measurement unit (IMU). The stereo camera inertial measurement unit (SC-IMU) hardware is designed and fixed on the mobile robot to collect related data. A novel fusion method is proposed according to the two modules operating at different data rates, which fuses the current position of robot acquired by the IMU and the binocular camera system, and achieves the intermittent correction for the localization of inertial navigation system (INS). We show experimental results to validate the reliability and effectiveness of the proposed algorithm.