A previously documented sensor fusion algorithm utilizing stereo vision for state estimation was field tested using sensor and image data acquired on-board a small rotorcraft. Various improvements to the baseline algorithms are described, including a robust feature detector and an outlier rejection algorithm. An accompanying hardware implementation is described, and experimental trials are conducted to verify the characteristics of the state estimator in practical cases, with encouraging results.
Realizing Visual-Augmented Inertial Navigation for a Rotorcraft Vehicle
BOTTASSO, CARLO LUIGI;LEONELLO, DOMENICO
2011-01-01
Abstract
A previously documented sensor fusion algorithm utilizing stereo vision for state estimation was field tested using sensor and image data acquired on-board a small rotorcraft. Various improvements to the baseline algorithms are described, including a robust feature detector and an outlier rejection algorithm. An accompanying hardware implementation is described, and experimental trials are conducted to verify the characteristics of the state estimator in practical cases, with encouraging results.File in questo prodotto:
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