Skip navigation
Skip navigation

Robust embedded egomotion estimation

Voigt, Rainer; Nikolic, Janosch; Hurzeler, Christoph; Weiss, Stephan; Kneip, Laurent; Siegwart, Roland


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]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI: 10.1109/IROS.2011.6095122


File Description SizeFormat Image
01_Voigt_Robust_embedded_egomotion_2011.pdf1.13 MBAdobe PDF    Request a copy
02_Voigt_Robust_embedded_egomotion_2011.pdf1.13 MBAdobe PDF    Request a copy

Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  20 July 2017/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator