Name
Abstract | ||
|---|---|---|
In this paper, we report on the experimental evaluation of the embedded visual localization system, the Intel RealSense T265, deployed on a multi-rotor unmanned aerial vehicle. The performed evaluation is targeted to examine the limits of the localization system and discover its weak points. The system has been deployed in outdoor rural scenarios at altitudes up to 20m. The Absolute trajectory error measures the accuracy of the localization with the reference provided by the differential GPS with centimeter precision. Besides, the localization performance is compared to the state-of-the-art feature-based visual localization ORB-SLAM2 utilizing the Intel RealSense D435 depth camera. In both types of experimental scenarios, with the teleoperated and autonomous vehicle, the identified weak point of the system is a translation drift. However, taking into account all experimental trials, both examined localization systems provide competitive results. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1007/978-3-030-70740-8_14 | MODELLING AND SIMULATION FOR AUTONOMOUS SYSTEMS (MESAS 2020) |
DocType | Volume | ISSN |
Conference | 12619 | 0302-9743 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
2 | ||