{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T14:15:49Z","timestamp":1777472149375,"version":"3.51.4"},"reference-count":22,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2018,3,12]],"date-time":"2018-03-12T00:00:00Z","timestamp":1520812800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Technologies R&amp;D program of China","award":["2016YFB0502002"],"award-info":[{"award-number":["2016YFB0502002"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41764002"],"award-info":[{"award-number":["41764002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41374039"],"award-info":[{"award-number":["41374039"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As indoor mobile navigation suffers from low positioning accuracy and accumulation error, we carried out research into an integrated location system for a robot based on Kinect and an Inertial Measurement Unit (IMU). In this paper, the close-range stereo images are used to calculate the attitude information and the translation amount of the adjacent positions of the robot by means of the absolute orientation algorithm, for improving the calculation accuracy of the robot\u2019s movement. Relying on the Kinect visual measurement and the strap-down IMU devices, we also use Kalman filtering to obtain the errors of the position and attitude outputs, in order to seek the optimal estimation and correct the errors. Experimental results show that the proposed method is able to improve the positioning accuracy and stability of the indoor mobile robot.<\/jats:p>","DOI":"10.3390\/s18030839","type":"journal-article","created":{"date-parts":[[2018,3,12]],"date-time":"2018-03-12T13:13:48Z","timestamp":1520860428000},"page":"839","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Research into Kinect\/Inertial Measurement Units Based on Indoor Robots"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6294-3149","authenticated-orcid":false,"given":"Huixia","family":"Li","sequence":"first","affiliation":[{"name":"Institute of Space Science and Technology, Nanchang University, Nanchang 330031, China"},{"name":"School of Resources Environment &amp; Chemical Engineering, Ministry of Education Key Laboratory of Poyang Lake Environment and Resource Utilization, Nanchang University, Nanchang 330031, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xi","family":"Wen","sequence":"additional","affiliation":[{"name":"Institute of Space Science and Technology, Nanchang University, Nanchang 330031, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5444-0285","authenticated-orcid":false,"given":"Hang","family":"Guo","sequence":"additional","affiliation":[{"name":"Institute of Space Science and Technology, Nanchang University, Nanchang 330031, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Min","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Computer Information and Engineering, Jiangxi Normal University, Nanchang 330022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,3,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4","DOI":"10.12928\/telkomnika.v15i1.3566","article-title":"A Robot Collision Avoidance Method Using Kinect and Global Vision","volume":"15","author":"Wu","year":"2017","journal-title":"Telkomnika"},{"key":"ref_2","first-page":"823","article-title":"Using a Depth Camera for Indoor Robot Localization and Navigation","volume":"116","author":"Cunha","year":"2011","journal-title":"Ind. 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