Name
Abstract | ||
|---|---|---|
We describe an UAV navigation system which combines stereo visual odometry with inertial measurements from an IMU. Our approach fuses the motion estimates from both sensors in an extended Kalman filter to determine vehicle position and attitude. We present results using data from a robotic helicopter, in which the visual and inertial system produced a final position estimate within 1% of the measured CPS position, over a flight distance of more than 400 meters. Our results show that the combination of visual and inertial sensing reduced overall positioning error by nearly an order of magnitude compared to visual odometry alone. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/978-3-540-75404-6_24 | SPRINGER TRACTS IN ADVANCED ROBOTICS |
Keywords | Field | DocType |
visual odometry,motion estimation,inertial navigation,extended kalman filter | Inertial navigation system,Computer vision,Extended Kalman filter,Visual odometry,Computer science,Navigation system,Dead reckoning,Global Positioning System,Artificial intelligence,Inertial measurement unit,Wind triangle | Conference |
Volume | ISSN | Citations |
42 | 1610-7438 | 26 |
PageRank | References | Authors |
1.70 | 9 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jonathan Kelly | 1 | 650 | 48.82 |
| Srikanth Saripalli | 2 | 564 | 60.11 |
| Gaurav S. Sukhatme | 3 | 5469 | 548.13 |