Autonomous visual-inertial navigation and absolute visual scale estimation
Deng, Xinke
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https://hdl.handle.net/2142/89154
Description
Title
Autonomous visual-inertial navigation and absolute visual scale estimation
Author(s)
Deng, Xinke
Issue Date
2015-12-08
Director of Research (if dissertation) or Advisor (if thesis)
Bretl, Timothy W.
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Visual-inertial Navigation
Scale Estimation
Abstract
In this thesis, we present a system that uses a single camera and an inertial
measurement unit (IMU) to navigate an Unmanned Aerial Vehicle (UAV) in a
previously unknown environment. The approach consists of two parts. First,
we apply a state-of-the-art simultaneous localization and mapping (SLAM)
method to the video stream of a onboard camera. From the SLAM system,
an up-to-a-scale pose of the camera is estimated, because the absolute size
of the environment cannot be estimated with a single camera. Second, the
estimated pose is fused with the data from IMU to resolve the scale ambiguity.
While analyzing the performance of the system, we find that the conver-
gence rate of scale decreases when the magnitude of scale increases. This
relationship has not been demonstrated and explained before. In this thesis,
we present an analysis and explanation of this phenomenon.
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