Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00351196" target="_blank" >RIV/68407700:21230/21:00351196 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/978-3-030-70740-8_14" target="_blank" >https://doi.org/10.1007/978-3-030-70740-8_14</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-70740-8_14" target="_blank" >10.1007/978-3-030-70740-8_14</a>
Alternative languages
Result language
angličtina
Original language name
Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios
Original language description
In this paper, we report on the experimental evaluation of the embedded visual localization system, the Intel RealSense T265, deployed on a multi-rotor unmanned aerial vehicle. The performed evaluation is targeted to examine the limits of the localization system and discover its weak points. The system has been deployed in outdoor rural scenarios at altitudes up to 20 m. The Absolute trajectory error measures the accuracy of the localization with the reference provided by the differential GPS with centimeter precision. Besides, the localization performance is compared to the state-of-the-art feature-based visual localization ORB-SLAM2 utilizing the Intel RealSense D435 depth camera. In both types of experimental scenarios, with the teleoperated and autonomous vehicle, the identified weak point of the system is a translation drift. However, taking into account all experimental trials, both examined localization systems provide competitive results.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Modelling and Simulation for Autonomous Systems
ISBN
978-3-030-70739-2
ISSN
0302-9743
e-ISSN
1611-3349
Number of pages
12
Pages from-to
217-228
Publisher name
Springer
Place of publication
Cham
Event location
Praha
Event date
Oct 21, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000763018100014