There have been increasing interests in the robotics community in building smaller and more agile autonomous micro aerial vehicles (MAVs). In particular, the monocular visual-inertial system (VINS) that consists of only a camera and an inertial measurement unit (IMU) forms a great minimum sensor suite due to its superior size, weight, and power (SWaP) characteristics. In this paper, we present a tightly-coupled nonlinear optimization-based monocular VINS estimator for autonomous rotorcraft MAVs. Our estimator allows the MAV to execute trajectories at 2 m/s with roll and pitch angles up to 30 degrees. We present extensive statistical analysis to verify the performance of our approach in different environments with varying flight speeds.


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    Titel :

    Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs


    Beteiligte:
    Shen, Shaojie (Autor:in) / Michael, Nathan (Autor:in) / Kumar, Vijay (Autor:in)


    Erscheinungsdatum :

    2015-05-01


    Format / Umfang :

    2339367 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch







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