@article{ca1329ff278540aaac01ee638515d915,
title = "Detection and compensation of degeneracy cases for IMU-kinect integrated continuous SLAM with plane features",
abstract = "In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit{\textquoteright}s (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations.",
keywords = "Degeneracy, Inertial measurement unit (IMU)-Kinect integration, Plane feature, Pose estimation, Simultaneous localization and mapping (SLAM)",
author = "Cho, {Hyun Gi} and Suyong Yeon and Hyunga Choi and Nakju Doh",
note = "Funding Information: This work was partly supported by the Brain Korea 21 Plus Project of School of Electrical Engineering, Korea University, a National Research Foundation of Korea (NRF) grant (No. 2011-0031648) funded by the Ministry of Science and ICT (MSIT), a Korea Evaluation Institute of Industrial Technology (KEIT) grant (No. 10073166) funded by the Ministry of Trade, Industry and Energy (MOTIE), and a grant (No. 17NSIP-B135746-01) funded by the Ministry of Land, Infrastructure and Transport (MOLIT), Republic of Korea. Funding Information: Acknowledgments: This work was partly supported by the Brain Korea 21 Plus Project of School of Electrical Engineering, Korea University, a National Research Foundation of Korea (NRF) grant (No. 2011-0031648) funded by the Ministry of Science and ICT (MSIT), a Korea Evaluation Institute of Industrial Technology (KEIT) grant (No. 10073166) funded by the Ministry of Trade, Industry and Energy (MOTIE), and a grant (No. 17NSIP-B135746-01) funded by the Ministry of Land, Infrastructure and Transport (MOLIT), Republic of Korea.",
year = "2018",
month = apr,
doi = "10.3390/s18040935",
language = "English",
volume = "18",
journal = "Sensors (Switzerland)",
issn = "1424-8220",
publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",
number = "4",
}