Visual - Inertial Motion Estimation on Computationally Constrained Platforms Autumn Term 2014
نویسندگان
چکیده
v
منابع مشابه
Visual-Inertial Navigation for a Camera-Equipped 25 g Nano-Quadrotor
We present a 25 g nano-quadrotor equipped with a micro PAL-camera and wireless video transmitter, with which we demonstrate autonomous hovering and figure flying using a visual-inertial SLAM system running on a ground-based laptop. To our knowledge this is the lightest quadrotor capable of visual-inertial navigation with off-board processing. Further we show autonomous flight with external pose...
متن کاملA Convex Formulation for Motion Estimation using Visual and Inertial Sensors
Most existing algorithms for vision-aided inertial navigation rely on linearization, and thus require good initial estimates of the state to operate reliably. In this paper, we present a method for computing such estimates in absence of prior motion information, by fusing the inertial measurements and observations of naturally-occurring point features extracted from images. Specifically, we pro...
متن کاملNew adaptive interpolation schemes for efficient meshbased motion estimation
Motion estimation and compensation is an essential part of existing video coding systems. The mesh-based motion estimation (MME) produces smoother motion field, better subjective quality (free from blocking artifacts), and higher peak signal-to-noise ratio (PSNR) in many cases, especially at low bitrate video communications, compared to the conventional block matching algorithm (BMA). Howev...
متن کاملStereo Visual Odometry for Autonomus Mobile
Estimating its ego-motion is one of the most important capabilities for an autonomous mobile platform. Without reliable ego-motion estimation no long-term navigation is possible. Besides odometry, inertial sensors, DGPS, laser range finders and so on, vision based algorithms can contribute a lot of information. In this paper, we want to give an integrated overview of stereo odometry. We want to...
متن کاملMonocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization
Precise real-time information about the position and orientation of robotic platforms as well as locally consistent point-clouds are essential for control, navigation, and obstacle avoidance. For years, GPS has been the central source of navigational information in airborne applications, yet as we aim for robotic operations close to the terrain and urban environments, alternatives to GPS need t...
متن کامل