Capabilities of autonomous locating are becoming an important trend in the development of flapping wing aircraft. The flapping wing aircraft's load is limited. Therefore, the monocular vision SLAM with fusion of IMU for locating has become a hot spot. In this article, the representative VINS-mono system is improved. Compressed sensing is used to reduce the dimension of feature descriptors, which reduces feature matching by 2/3. The validity of the method is verified by data set experiments.
Application of Compressed Sensing in Mono Slam System with Fusion of IMU
Lect. Notes Electrical Eng.
30.10.2021
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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