Visual Inertial Simultaneous Localization and Mapping (VISLAM) for an Unmanned Helicopter Vehicle Target (UHV-T)

无人直升机目标 (UHV-T) 的视觉惯性同步定位和测绘 (VISLAM)

• 批准号: 491414-2015
• 负责人: Lynch, Alan
• 金额: $ 1.82万
• 依托单位: University of Alberta
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=586894
• 关键词: Visual; Inertial; Simultaneous; Localization; Mapping

Meggitt Target Systems (MTAS) (Medicine Hat, AB) develops unmanned helicopter vehicle targets (UHV-T). UHV-Ts can only be operated autonomously when GPS is available. Such a requirement limits the scope of the UHV-T missions. For example, applications such as shipboard landing where the relative pose with respect to the deck is required and GPS signals can be blocked by the superstructure. This project designs an on-board VISLAM (Visual Inertial Simultaneous Localization and Mapping) system which combines inertial and camera measurements to obtain a pose estimate without requiring GPS. Inertial measurements are obtained from gyroscopes for angular velocity and accelerometers provide linear acceleration. Given the strong current interest in VISLAM in the scientific community, this research will keep Canada at the forefront in the fields of control systems and robotics. Canada benefits given that VISLAM can be applied to a range of applications such as mobile robots, autonomous cars, and virtual reality.

Meggitt Target Systems（MTAS）（梅迪辛哈特，AB）开发无人直升机飞行器目标（UHV-T）。 只有在GPS可用时，UHV-T才能自主运行。这种要求限制了 UHV-T任务。例如，诸如船上着陆的应用，其中相对于 需要甲板，并且GPS信号可能被上层建筑阻挡。本项目设计了一种车载 结合惯性和摄像机的VISLAM（视觉惯性同时定位和地图）系统 测量以获得姿态估计而不需要GPS。惯性测量值由 用于角速度的陀螺仪和加速度计提供线性加速度。鉴于水流很强 科学界对VISLAM的兴趣，这项研究将使加拿大在以下领域保持领先地位： 控制系统和机器人。加拿大受益，因为VISLAM可应用于一系列应用 例如移动的机器人、自动汽车和虚拟现实。