ICUAS'17 Paper Abstract

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Paper ThB5.1

Andert, Franz (German Aerospace Center (DLR)), Krause, Stefan (German Aerospace Center)

Optical Aircraft Navigation with Multi-Sensor SLAM and Infinite Depth Features

Scheduled for presentation during the "Sensor Fusion - II" (ThB5), Thursday, June 15, 2017, 13:45−14:05, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on July 22, 2019

Keywords Sensor Fusion, Navigation, Smart Sensors

Abstract

In the context of optical-aided navigation and visual Simultaneous Localization And Mapping (SLAM) for satellite-denied aircraft navigation, this paper extends the monocular SLAM approach by the use of multiple sensors with different viewing directions. Downward optical sensors see other movements than forward-looking cameras, hence it is straightforward to combine the benefits of both.

This combination helps to estimate all the six motion components with increased robustness, yielding a more stable and accurate state estimation for optical-aided navigation solutions. The method is evaluated with aerial data from manned and unmanned flights. In the data analysis, a satellite navigation dropout is simulated, and the flight trajectory is then reconstructed just by the optical data. The method is tested in small-scale scenarios as well as in longer flights with several kilometers of flight range. The results show some increased performance of an additional forward camera in comparison to a setup with only downward sensors. It is proposed to use such multi-sensor configurations wherever motion estimation ambiguities with a single camera are probable, especially when larger distances have to be flown with optical navigation.

 

 

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