NDLI: A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM

Content Provider	IEEE Xplore Digital Library
Author	Nikolic, J. Rehder, J. Burri, M. Gohl, P. Leutenegger, S. Furgale, P.T. Siegwart, R.
Copyright Year	2014
Description	Author affiliation: Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland (Nikolic, J.; Rehder, J.; Burri, M.; Gohl, P.; Leutenegger, S.; Furgale, P.T.; Siegwart, R.)
Abstract	Robust, accurate pose estimation and mapping at real-time in six dimensions is a primary need of mobile robots, in particular flying Micro Aerial Vehicles (MAVs), which still perform their impressive maneuvers mostly in controlled environments. This work presents a visual-inertial sensor unit aimed at effortless deployment on robots in order to equip them with robust real-time Simultaneous Localization and Mapping (SLAM) capabilities, and to facilitate research on this important topic at a low entry barrier. Up to four cameras are interfaced through a modern ARM-FPGA system, along with an Inertial Measurement Unit (IMU) providing high-quality rate gyro and accelerometer measurements, calibrated and hardware-synchronized with the images. This facilitates a tight fusion of visual and inertial cues that leads to a level of robustness and accuracy which is difficult to achieve with purely visual SLAM systems. In addition to raw data, the sensor head provides FPGA-pre-processed data such as visual keypoints, reducing the computational complexity of SLAM algorithms significantly and enabling employment on resource-constrained platforms. Sensor selection, hardware and firmware design, as well as intrinsic and extrinsic calibration are addressed in this work. Results from a tightly coupled reference visual-inertial motion estimation framework demonstrate the capabilities of the presented system.
Starting Page	431
Ending Page	437
File Size	1607243
Page Count	7
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906892
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Simultaneous localization and mapping Field programmable gate arrays Calibration Synchronization Visualization Sensor Fusion Visual-Inertial Motion Estimation SLAM Camera IMU FPGA
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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