Fusion of Monocular Visual-Inertial Measurements for Three Dimensional Pose Estimation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00309488" target="_blank" >RIV/68407700:21230/16:00309488 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/16:00309488
Result on the web
<a href="http://80.link.springer.com.dialog.cvut.cz/chapter/10.1007/978-3-319-47605-6_20" target="_blank" >http://80.link.springer.com.dialog.cvut.cz/chapter/10.1007/978-3-319-47605-6_20</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-47605-6_20" target="_blank" >10.1007/978-3-319-47605-6_20</a>

Result language
angličtina
Original language name
Fusion of Monocular Visual-Inertial Measurements for Three Dimensional Pose Estimation
Original language description
This work describes a novel fusion schema to estimate the pose of a UAV using inertial sensors and a monocular camera. The visual motion algorithm is based on the plane induced homography using so called spectral features. The algorithm is able to operate with images presenting small amount of corner-like features, which gives more robustness to the state estimation. The key contribution of the paper is the use of this visual algorithm in a fusion schema with inertial sensors, exploiting the complementary properties of these two sensors. Results are presented in simulation with six degrees of freedom motion that satisfies dynamic constraints of a quadcopter. Virtual views are generated from this simulated motion cropped from a real floor image. Simulation results show that the presented algorithm would have enough precision to be used in an on-board algorithm to control the UAV in hovering operations.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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