外观
论文arXiv 2609.3846229 天前
面向4WIS4WID移动机器人的视觉-惯性-轮式里程计可观性分析与在线标定
原文链接：Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots（arXiv 2609.38462 · 发布日期：2026-09-29）
Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots
本文提出带在线标定的VIWO框架，基于四轮滚动与侧向无滑约束建模，并在仿真和真实4WIS4WID移动机器人上验证。
核心要点
- 针对4WIS4WID移动机器人，研究视觉-惯性-轮式里程计的在线标定与可观性问题。
- 从四个驱动速度和转向角直接推导2D里程计模型，并结合所有车轮的纵向和侧向约束。
- 提出预积分模型和解析雅可比用于高效滤波与标定，并分析线性化VIWO系统的不可观方向。
- 分析表明仅驱动模型下转向偏置不可观，冗余模型可恢复其可观性；系统在仿真和真实实验中展示性能。
验证范围与局限：验证范围为仿真和一台4WIS4WID移动机器人的真实实验。
英文摘要 (Abstract)
In this paper, we present a visual-inertial-wheel odometry (VIWO) framework with online calibration for four-wheel independently steered and driven (4WIS4WID) mobile robots. We derive a 2D odometry model directly from the four driving velocities and steering angles, using both the longitudinal rolling constraints and the lateral no-slip constraints of all wheels. A preintegration model and analytical Jacobians are developed for efficient filtering and calibration. An observability analysis of the linearized VIWO system shows that a drive-only model makes all steering offsets unobservable, whereas the proposed redundant model restores their observability. The analysis also identifies four standard VINS unobservable directions and three additional directions associated with the arbitrary placement of the odometry reference frame. Furthermore, we characterize several degenerate motions, including zero yaw rate, constant steering, and a non-rolling wheel, and derive the corresponding excitation conditions for the thirteen wheel intrinsics that remain after fixing the odometry frame reference. The performance of the proposed system has been demonstrated in both simulation and real-world experiments on a 4WIS4WID mobile robot.
作者：Branimir Ćaran, Vladimir Milić, Bojan Šekoranja, Bojan Jerbić
来源
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