{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T01:14:52Z","timestamp":1780708492725,"version":"3.54.1"},"reference-count":28,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2019,4,13]],"date-time":"2019-04-13T00:00:00Z","timestamp":1555113600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministry of Science and Technology of China","award":["2016YFB0502204"],"award-info":[{"award-number":["2016YFB0502204"]}]},{"name":"Ministry of Science and Technology 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":["61803175"],"award-info":[{"award-number":["61803175"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"China Postdoctoral Foundation","award":["2017M622204"],"award-info":[{"award-number":["2017M622204"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Multi-sensor integrated navigation technology has been applied to the indoor navigation and positioning of robots. For the problems of a low navigation accuracy and error accumulation, for mobile robots with a single sensor, an indoor mobile robot positioning method based on a visual and inertial sensor combination is presented in this paper. First, the visual sensor (Kinect) is used to obtain the color image and the depth image, and feature matching is performed by the improved scale-invariant feature transform (SIFT) algorithm. Then, the absolute orientation algorithm is used to calculate the rotation matrix and translation vector of a robot in two consecutive frames of images. An inertial measurement unit (IMU) has the advantages of high frequency updating and rapid, accurate positioning, and can compensate for the Kinect speed and lack of precision. Three-dimensional data, such as acceleration, angular velocity, magnetic field strength, and temperature data, can be obtained in real-time with an IMU. The data obtained by the visual sensor is loosely combined with that obtained by the IMU, that is, the differences in the positions and attitudes of the two sensor outputs are optimally combined by the adaptive fade-out extended Kalman filter to estimate the errors. Finally, several experiments show that this method can significantly improve the accuracy of the indoor positioning of the mobile robots based on the visual and inertial sensors.<\/jats:p>","DOI":"10.3390\/s19081773","type":"journal-article","created":{"date-parts":[[2019,4,15]],"date-time":"2019-04-15T11:15:58Z","timestamp":1555326958000},"page":"1773","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["Mobile Robot Indoor Positioning Based on a Combination of Visual and Inertial Sensors"],"prefix":"10.3390","volume":"19","author":[{"given":"Mingjing","family":"Gao","sequence":"first","affiliation":[{"name":"Institute of Space Science and Technology, Nanchang University, Nanchang 330031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Min","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Computer Information and Engineering, Jiangxi Normal University, Nanchang 330022, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"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":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuan","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, University of Jinan, Jinan 250022, China"},{"name":"School of Control Science and Engineering, Shandong University, Jinan 250100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,4,13]]},"reference":[{"key":"ref_1","first-page":"499","article-title":"A survey of monocular simultaneous localization and mapping","volume":"10","author":"Haomin","year":"2015","journal-title":"CAAI Trans. 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