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