Realtime Edge Based Visual Inertial Odometry for MAV Teleoperation in Indoor Environments
Realtime Edge Based Visual Inertial Odometry for MAV Teleoperation in Indoor Environments
复制标题
基于实时边缘的视觉惯性里程计，用于室内环境中的 MAV 远程操作
DOI：
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发表时间：
2017
影响因子：
3.3
通讯作者：
S. Pedre
中科院分区：
文献类型：
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作者：
J. Tarrio;S. Pedre
提出了一种利用前置摄像机和惯性测量单元作为唯一传感器的微型飞行器控制和遥操作的工作方案。该系统是基于边缘的视觉里程计算法的扩展，以集成惯性传感器。使用混合的紧密-松散耦合方法，在这种极简设置中利用每个传感器，同时保持低复杂性。该系统运行完全板上的MAV提供一个半密度输出，是更有用的导航比稀疏的地图生成的大多数功能为基础的系统。据作者所知，该系统是第一个半秘密VO方法完全运行在船上的MAV的视觉在回路控制。使用EuRoC MAV数据集，这是专门针对在现实情况下的MAV导航的方法进行了广泛的评估。遥操作的一些实际问题也得到了解决，特别是数据如何传输和呈现给用户。最后，真实的生活实验，以说明完整的系统和遥操作界面的性能。
A working solution for control and teleoperation of Micro Aerial Vehicles using a frontal camera and an inertial measurement unit as sole sensors is presented. The system is an extension of an edge based visual odometry algorithm to integrate inertial sensors. A mixed tightly-loosely coupled approach is used, taking advantage of each sensor in this minimalistic setup, while keeping the complexity low. The system runs completely on board a MAV providing a semidense output that is more useful for navigation than the sparse maps generated by most feature based systems. To the best of the author’s knowledge, the system is the first semidense VO method running fully on board a MAV for vision in the loop control. An extensive evaluation of the method is presented using the EuRoC MAV dataset, that is specially targeted for MAV navigation in realistic situations. Some of the practical issues of teleoperation are also addressed, in particular how data is transmitted and presented to the user. Finally, real life experiments are included to illustrate the performance of the complete system and the teleoperation interface.