This paper proposes an enhanced tightly-coupled sensor fusion scheme using a monocular camera and ultra-wideband (UWB) ranging sensors for the task of simultaneous localization and mapping. By leveraging UWB data, the method can achieve metric-scale, drift-reduced odometry and a map consisting of visual landmarks and UWB anchors without knowing the anchor positions. Firstly, the UWB configuration accommodates any degenerate cases with an insufficient number of anchors for 3D triangulation (\(N\le 3\) and no height data). Secondly, a practical model for UWB measurement is used, ensuring more accurate estimates for all the states. Thirdly, selected prior range measurements including the anchor-world origin and anchor–anchor ranges are utilized to alleviate the requirement of good initial guesses for anchor position. Lastly, a monitoring scheme is introduced to appropriately fix the scale factor to maintain a smooth trajectory as well as the UWB anchor position to fuse camera and UWB measurement in the bundle adjustment. Extensive experiments are carried out to showcase the effectiveness of the proposed system.

本文提出了一种增强的紧密耦合传感器融合方案，该方案使用单眼相机和超宽带（UWB）测距传感器进行同时定位和制图的任务。通过利用UWB数据，该方法可以实现公制比例，减少漂移的测距法以及由视觉界标和UWB锚组成的地图，而无需知道锚位置。首先，UWB配置可容纳任何数量不足的退化案例，这些案例的锚点数量不足以进行3D三角测量（\（N \ le 3 \）并且没有高度数据）。其次，使用用于UWB测量的实用模型，以确保对所有状态进行更准确的估计。第三，利用先前选定的范围测量值，包括锚定世界原点和锚定锚范围，可以减轻对锚定位置的良好初始猜测的要求。最后，引入了一种监视方案，以适当地固定比例因子以保持平滑的轨迹以及UWB锚定位置，以在束调整中融合摄像机和UWB测量。进行了广泛的实验以展示所提出系统的有效性。