We describe a novel inertial navigation system based on measurementfusion which includes stereo-vision among its sensors. The vision-augmented system provides enhanced accuracy in the estimation ofthe vehicle states whenflying in proximity ofobstacles, and can operate without GPS signal, for example whenflying under vegetation cover, indoors or in complex urban environments. Scene feature points are tracked between the left an right images and across time steps, yielding vision-based information on the state of motion of the vehicle which isfused together with other non-vision-based sensors. Theproposed approach is demonstrated using simulationfor an autonomous helicopterflying in an urban environment.
Vision-augmented inertial navigation by sensor fusion for an autonomous rotorcraft vehicle
Sichtverstärkte Trägheitsnavigation durch Sensorfusion für einen autonom fliegenden Hubschrauber
2009
11 Seiten, 11 Bilder, 12 Quellen
Conference paper
English
Inertial Navigation of an Autonomous Rotorcraft Vehicle Using Stereo-Vision
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