Exploiting Attitude Sensing in Vision-Based Navigation for an Airship
Joint Authors
Mirisola, Luiz G. B.
Dias, Jorge
Source
Issue
Vol. 2009, Issue 2009 (31 Dec. 2009), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-09-07
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
An Attitude Heading Reference System (AHRS) is used to compensate for rotational motion, facilitating vision-based navigation above smooth terrain by generating virtual images to simulate pure translation movement.
The AHRS combines inertial and earth field magnetic sensors to provide absolute orientation measurements, and our recently developed calibration routine determines the rotation between the frames of reference of the AHRS and the monocular camera.
In this way, the rotation is compensated, and the remaining translational motion is recovered by directly finding a rigid transformation to register corresponding scene coordinates.
With a horizontal ground plane, the pure translation model performs more accurately than image-only approaches, and this is evidenced by recovering the trajectory of our airship UAV and comparing with GPS data.
Visual odometry is also fused with the GPS, and ground plane maps are generated from the estimated vehicle poses and used to evaluate the results.
Finally, loop closure is detected by looking for a previous image of the same area, and an open source SLAM package based in 3D graph optimization is employed to correct the visual odometry drift.
The accuracy of the height estimation is also evaluated against ground truth in a controlled environment.
American Psychological Association (APA)
Mirisola, Luiz G. B.& Dias, Jorge. 2009. Exploiting Attitude Sensing in Vision-Based Navigation for an Airship. Journal of Robotics،Vol. 2009, no. 2009, pp.1-16.
https://search.emarefa.net/detail/BIM-503582
Modern Language Association (MLA)
Mirisola, Luiz G. B.& Dias, Jorge. Exploiting Attitude Sensing in Vision-Based Navigation for an Airship. Journal of Robotics No. 2009 (2009), pp.1-16.
https://search.emarefa.net/detail/BIM-503582
American Medical Association (AMA)
Mirisola, Luiz G. B.& Dias, Jorge. Exploiting Attitude Sensing in Vision-Based Navigation for an Airship. Journal of Robotics. 2009. Vol. 2009, no. 2009, pp.1-16.
https://search.emarefa.net/detail/BIM-503582
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-503582