Robust embedded egomotion estimation
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Altmetric Citations
Voigt, Rainer; Nikolic, Janosch; Hurzeler, Christoph; Weiss, Stephan; Kneip, Laurent; Siegwart, Roland
Description
This work presents a method for estimating the egomotion of an aerial vehicle in challenging industrial environments. It combines binocular visual and inertial cues in a tightly-coupled fashion and operates in real time on an embedded platform. An extended Kalman filter fuses measurements and makes motion estimation rely more on inertial data if visual feature constellation is degenerate. Errors in roll and pitch are bounded implicitly by the gravity vector. Inertial sensors are used for...[Show more]
Collections | ANU Research Publications |
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Date published: | 2011 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/72613 |
Source: | Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems |
DOI: | 10.1109/IROS.2011.6095122 |
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File | Description | Size | Format | Image |
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01_Voigt_Robust_embedded_egomotion_2011.pdf | 1.13 MB | Adobe PDF | Request a copy | |
02_Voigt_Robust_embedded_egomotion_2011.pdf | 1.13 MB | Adobe PDF | Request a copy |
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