发表机构
Croatian Academy of Sciences and Arts（克罗地亚科学与艺术学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种带在线标定的视觉-惯性-轮式里程计框架，通过冗余模型恢复转向偏移可观测性，并分析退化运动与激励条件，在仿真和实车实验中验证了性能。
AI 中文摘要
本文提出了一种用于四轮独立转向独立驱动（4WIS4WID）移动机器人的带在线标定的视觉-惯性-轮式里程计（VIWO）框架。我们直接从四个驱动速度和转向角推导出一个二维里程计模型，同时利用所有车轮的纵向滚动约束和横向无滑动约束。开发了预积分模型和解析雅可比矩阵，以实现高效的滤波和标定。对线性化VIWO系统的可观测性分析表明，仅驱动模型使所有转向偏移量不可观测，而所提出的冗余模型恢复了它们的可观测性。该分析还确定了四个标准的VINS不可观测方向，以及三个与里程计参考系任意放置相关的附加方向。此外，我们刻画了几种退化运动，包括零偏航率、恒定转向和非滚动车轮，并推导了在固定里程计框架参考后剩余的十三个车轮内参的相应激励条件。所提出系统的性能已在4WIS4WID移动机器人的仿真和实际实验中得到了验证。
英文摘要
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.
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