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We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.
We combine a visual odometry system with an aided inertial navigation filter to produce a precise and robust navigation system that does not rely on external infrastructure. Incremental structure from motion with sparse bundle adjustment using a stereo camera provides real-time highly accurate pose estimates of the sensor which are combined with six degree-of-freedom inertial measurements in an Extended...
This paper presents an algorithm which can effectively constrain inertial navigation drift using monocular camera data. It is capable of operating in unknown and large scale environments and assumes no prior knowledge of the size, appearance or location of potential environmental features. Low cost inertial navigation units are found on most autonomous vehicles and a large number of smaller robots...
This paper presents a framework for robust localization suitable to unmanned systems operating in environments that have limited or unreliable access to external localization information, such as GPS. The core algorithm presented is a recasting of the Simultaneous Localization and Mapping (SLAM) technique from the robotics literature as an aid to inertial navigation. A single camera is used to track...
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