DMCA
On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV
| Citations: | 6 - 0 self |
BibTeX
@MISC{Schauwecker_on-boarddual-stereo-vision,
author = {Konstantin Schauwecker and Andreas Zell},
title = {On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV},
year = {}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
(MAV) equipped with four cameras, which are arranged in two stereo configurations. The MAV is able to perform stereo matching for each camera pair on-board and in real-time, using an efficient sparse stereo method. In case of the camera pair that is facing forward, the stereo matching results are used for a reduced stereo SLAM system. The other camera pair, which is facing downwards, is used for ground plane detection and tracking. Hence, we are able to obtain a full 6DoF pose estimate from each camera pair, which we fuse with inertial measurements in an extended Kalman filter. Special care is taken to compensate various drift errors. In an evaluation we show that using two instead of one camera pair significantly increases the pose estimation accuracy and robustness. 1
Keyphrases
camera pair on-board dual-stereo-vision autonomous mav pose estimate extended kalman filter efficient sparse stereo method various drift error stereo matching result ground plane detection reduced stereo slam system stereo configuration pose estimation accuracy special care inertial measurement
