Multi-Sensor Fusion for Wheel-Inertial-Visual Systems Using a Fuzzification-Assisted Iterated Error State Kalman Filter

Abstract

This paper investigates the odometry drift problem in differential-drive indoor mobile robots and proposes a multi-sensor fusion approach utilizing a Fuzzy Inference System (FIS) within a Wheel-Inertial-Visual Odometry (WIVO) framework to optimize the 6-DoF localization of the robot in unstructured scenes. The structure and principles of the multi-sensor fusion system are developed, incorporating an Iterated Error State Kalman Filter (IESKF) for enhanced accuracy. An FIS is integrated with the IESKF to address the limitations of traditional fixed covariance matrices in process and observation noise, which fail to adapt effectively to complex kinematic characteristics and visual observation challenges such as varying lighting conditions and unstructured scenes in dynamic environments. The fusion filter gains in FIS-IESKF are adaptively adjusted for noise predictions, optimizing the rule parameters of the fuzzy inference process. Experimental results demonstrate that the proposed method effectively enhances the localization accuracy and system robustness of differential-drive indoor mobile robots in dynamically changing movements and environments.

Keywords

• multi-sensor fusion
• wheel-inertial-visual odometry
• iterative error state Kalman filter (IESKF)
• system noise covariance
• fuzzy inference system (FIS)