Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems

ISBN

978-3-030-70739-2

ISSN

0302-9743

e-ISSN

1611-3349

Počet stran výsledku

12

Strana od-do

217-228

Název nakladatele

Springer

Místo vydání

Cham

Místo konání akce

Praha

Datum konání akce

21. 10. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000763018100014