NDLI: Inertially Aided Visual Odometry for Miniature Air Vehicles in GPS-denied Environments

Content Provider	Springer Nature Link
Author	Ready, Bryce B. Taylor, Clark N.
Copyright Year	2008
Abstract	Unmanned miniature air vehicles (MAVs) have recently become a focus of much research, due to their potential utility in a number of information gathering applications. MAVs currently carry inertial sensor packages that allow them to perform basic flight maneuvers reliably in a completely autonomous manner. However, MAV navigation requires knowledge of location that is currently available only through GPS sensors, which depend on an external infrastructure and are thus prone to reliability issues. Vision-based methods such as Visual Odometry (VO) have been developed that are capable of estimating MAV pose purely from vision, and thus have the potential to provide an autonomous alternative to GPS for MAV navigation. Because VO estimates pose by combining relative pose estimates, constraining relative pose error is the key element of any Visual Odometry system. In this paper, we present a system that fuses measurements from an MAV inertial navigation system (INS) with a novel VO framework based on direct image registration. We use the inertial sensors in the measurement step of the Extended Kalman Filter to determine the direction of gravity, and hence provide error-bounded measurements of certain portions of the aircraft pose. Because of the relative nature of VO measurements, we use VO in the EKF prediction step. To allow VO to be used as a prediction, we develop a novel linear approximation to the direct image registration procedure that allows us to propagate the covariance matrix at each time step. We present offline results obtained from our pose estimation system using actual MAV flight data. We show that fusion of VO and INS measurements greatly improves the accuracy of pose estimation and reduces the drift compared to unaided VO during medium-length (tens of seconds) periods of GPS dropout.
Starting Page	203
Ending Page	221
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	55
Issue Number	2-3
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2008-12-04
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Visual odometry Visually aided inertial navigation Pose estimation Kalman filter Sensor fusion Inertially aided visual odometry GPS-denied navigation Miniature unmanned air vehicles Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation

Real-Time Implementation of GPS Aided Low-Cost Strapdown Inertial Navigation System

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

Probabilistic Egomotion for Stereo Visual Odometry

GPS Denied UAV Routing with Communication Constraints

Visual Odometry Using Pixel Processor Arrays for Unmanned Aerial Systems in GPS Denied Environments

Airborne Vision-Aided Navigation Using Road Intersection Features

Planar-Based Visual Inertial Navigation: Observability Analysis and Motion Estimation

Vision-Based Road-Following Using Proportional Navigation

Inertially Aided Visual Odometry for Miniature Air Vehicles in GPS-denied Environments

Similar Documents

Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation

Real-Time Implementation of GPS Aided Low-Cost Strapdown Inertial Navigation System

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

Probabilistic Egomotion for Stereo Visual Odometry

GPS Denied UAV Routing with Communication Constraints

Visual Odometry Using Pixel Processor Arrays for Unmanned Aerial Systems in GPS Denied Environments

Airborne Vision-Aided Navigation Using Road Intersection Features

Planar-Based Visual Inertial Navigation: Observability Analysis and Motion Estimation

Vision-Based Road-Following Using Proportional Navigation

Inertially Aided Visual Odometry for Miniature Air Vehicles in GPS-denied Environments