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Sensors 2016, 16(9), 1516; doi:10.3390/s16091516

Navigation Aiding by a Hybrid Laser-Camera Motion Estimator for Micro Aerial Vehicles

1
Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Karlsruhe 76049, Germany
2
ITMO University, Saint Petersburg 197046, Russia
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 14 July 2016 / Revised: 28 August 2016 / Accepted: 9 September 2016 / Published: 16 September 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [3520 KB, uploaded 21 September 2016]   |  

Abstract

Micro Air Vehicles (MAVs) equipped with various sensors are able to carry out autonomous flights. However, the self-localization of autonomous agents is mostly dependent on Global Navigation Satellite Systems (GNSS). In order to provide an accurate navigation solution in absence of GNSS signals, this article presents a hybrid sensor. The hybrid sensor is a deep integration of a monocular camera and a 2D laser rangefinder so that the motion of the MAV is estimated. This realization is expected to be more flexible in terms of environments compared to laser-scan-matching approaches. The estimated ego-motion is then integrated in the MAV’s navigation system. However, first, the knowledge about the pose between both sensors is obtained by proposing an improved calibration method. For both calibration and ego-motion estimation, 3D-to-2D correspondences are used and the Perspective-3-Point (P3P) problem is solved. Moreover, the covariance estimation of the relative motion is presented. The experiments show very accurate calibration and navigation results. View Full-Text
Keywords: hybrid sensor; laser-camera calibration; ego-motion estimation; covariance estimation; integrated navigation system hybrid sensor; laser-camera calibration; ego-motion estimation; covariance estimation; integrated navigation system
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Atman, J.; Popp, M.; Ruppelt, J.; Trommer, G.F. Navigation Aiding by a Hybrid Laser-Camera Motion Estimator for Micro Aerial Vehicles. Sensors 2016, 16, 1516.

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