Publikation: Mid-Air Range-Visual-Inertial Estimator...
Stammdaten
Titel: | Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles |
Untertitel: | |
Kurzfassung: | Monocular Visual-Inertial Odometry (VIO) has become ubiquitous for navigation of autonomous Micro Air Vehicles (MAVs). Yet, state-of-the-art VIO is still very failure-prone, which can have dramatic consequences. To prevent this, VIO must be able to re-initialize in mid-air, either during a free fall or on a constant velocity trajectory after attitude control has been re-established. However, for both of these trajectories, the visual scale cannot be observed with VIO batch initializers because of the absence of acceleration change. We propose to use a small and lightweight laser-range finder (LRF) and a scene facet model to initialize vision-based navigation at the right scale under any motion condition and over any scene structure. This new range constraint is integrated into a visual-inertial bundle-adjustment initializer. We evaluate our approach in simulation, including robustness to various parameters, and demonstrate on real data how this approach can address midair state estimation failure in real-time. |
Schlagworte: |
Publikationstyp: | Beitrag in Proceedings (Autorenschaft) |
Erscheinungsdatum: | 18.10.2021 (Online) |
Erschienen in: |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021)
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IEEE;
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Titel der Serie: | - |
Bandnummer: | - |
Erstveröffentlichung: | Ja |
Version: | - |
Seite: | S. 7613 - 7619 |
Versionen
Keine Version vorhanden |
Erscheinungsdatum: | 18.10.2021 |
ISBN (e-book): |
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eISSN: | 2577-087X |
DOI: | http://dx.doi.org/10.1109/ICRA48506.2021.9560913 |
Homepage: | https://ieeexplore.ieee.org/abstract/document/9560913 |
Open Access |
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AutorInnen
Martin Scheiber (intern) | ||||||
Jeff Delaune
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Stephan Michael Weiss (intern) | ||||||
Roland Brockers (extern) |
Zuordnung
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Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
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AT - 9020 Klagenfurt am Wörthersee |
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NASA Jet Propulsion Laboratory (JPL)
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US - 91109 Pasadena |
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Veranstaltungen: | Keine verknüpften Veranstaltung vorhanden |
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