Vortrag: Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air ...
Stammdaten
Titel: | Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles |
Beschreibung: | Monocular Visual-Inertial Odometry (VIO) has become ubiquitous for navigation of autonomous Micro Air Vehicles (MAVs). Yet, state-of-the-art VIO is still very failure-prone, which can have dramatic consequences. To prevent this, VIO must be able to re-initialize in mid-air, either during a free fall or on a constant velocity trajectory after attitude control has been re-established. However, for both of these trajectories, the visual scale cannot be observed with VIO batch initializers because of the absence of acceleration change. We propose to use a small and lightweight laser-range finder (LRF) and a scene facet model to initialize vision-based navigation at the right scale under any motion condition and over any scene structure. This new range constraint is integrated into a visual-inertial bundle-adjustment initializer. We evaluate our approach in simulation, including robustness to various parameters, and demonstrate on real data how this approach can address midair state estimation failure in real-time. |
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Typ: | Angemeldeter Vortrag |
Homepage: | https://www.icra2021.org |
Veranstaltung: | IEEE International Conference on Robotics and Automation (ICRA) - 2021 (Xi'an) |
Datum: | 01.06.2021 |
Vortragsstatus: | stattgefunden (online) |
Beteiligte
Martin Scheiber (intern) |
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Jeff Delaune
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Stephan Michael Weiss (intern) |
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Roland Brockers (extern) |
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Zuordnung
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Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
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AT - 9020 Klagenfurt am Wörthersee |
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NASA Jet Propulsion Laboratory (JPL)
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US - 91109 Pasadena |
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