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This paper proposes an approach to solve these limitations with an extended Kalman filter (EKF) based on a state estimation algorithm that fuses information from a low-cost MEMS Inertial Measurement Unit and a Time-of-Flight camera. We demonstrate our results in an indoor environment. We show that the proposed approach does not require any global reflective landmark for localization and is fast, accurate, and easy to use with mobile robots.<\/jats:p>","DOI":"10.1017\/s0263574720001526","type":"journal-article","created":{"date-parts":[[2021,2,22]],"date-time":"2021-02-22T04:46:01Z","timestamp":1613969161000},"page":"1816-1833","source":"Crossref","is-referenced-by-count":9,"title":["Accurate 3D Localization Using RGB-TOF Camera and IMU for Industrial Mobile Robots"],"prefix":"10.1017","volume":"39","author":[{"given":"Majid","family":"Yekkehfallah","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8679-9137","authenticated-orcid":false,"given":"Ming","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiao","family":"Cai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuanxiang","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,2,22]]},"reference":[{"key":"S0263574720001526_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15561-1_56"},{"key":"S0263574720001526_ref5","first-page":"464","article-title":"Swinging single-layer LiDAR based dense point cloud map reconstruction system for large-scale scenes","volume":"41","author":"Qian","year":"2019","journal-title":"Jiqiren\/Robot"},{"key":"S0263574720001526_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2016.7866447"},{"key":"S0263574720001526_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2017.2738016"},{"key":"S0263574720001526_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-08338-4_25"},{"key":"S0263574720001526_ref27","unstructured":"[27] Hazry, D. , Rosbi, M. and Sofian, M. , \u201cStudy of inertial measurement unit sensor,\u201d Proceedings of the International Conference on Man-Machine Systems (ICoMMS), 11\u201313 October 2009, (Batu Ferringhi, Penang, Malaysia, 2009)."},{"key":"S0263574720001526_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"S0263574720001526_ref6","first-page":"26","article-title":"3D map reconstruction in indoor environment based on normal distribution transformation under gravity constraint","volume":"52","author":"Qi","year":"2018","journal-title":"Shanghai Jiaotong Daxue Xuebao\/J. 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