Data Fusion Of Stereo Vision and Gyroscope For Estimation Of Indoor Mobile Robot Orientation

In this paper a Kalman filter based data fusion method uses a novel combination of stereo vision and gyroscope angular velocity information. The proposed solution helps to eliminate the gyroscope unbounded drift errors. Since the gyroscope offers a higher bandwidth and availability of angular velocity it is corrected with the stereo vision system which has lower bandwidth and availability but bounded errors. A successful set of experiments were conducted to evaluate the integrated angle calculated from gyroscope and the proposed sensor fusion method.