Loosely Coupled UWB/Stereo Camera Integration for Mobile Robots Indoor Navigation

This paper explores the prospects of using a stereo camera mounted on a wheeled robot as an additional source of navigation information in the partial absence of navigation measurements from the ultra-wide band (UWB) reference radio infrastructure in an indoor room. Five algorithms based on the Extended Kalman Filter (EKF) with different configurations of measured navigation parameters were synthesized. Two experiments were conducted, and according to the results, the gain in accuracy for rectilinear motion of the robot from the use of the integrated system was 1.4 times by the distance root mean square (DRMS) criteria. For curved motion, the maximum gain was 9.5 times by the DRMS criteria.