Aggressive navigation using high-speed natural feature point tracking
2014 (English)In: IEEE Aerospace Conference Proceedings, 2014Conference paper (Refereed)
Presently, most autonomous aerial vehicles rely on satellite navigation such as GPS to sense their position in the earth reference frame. However, reliance on GPS restricts the vehicle to missions where GPS signals are readily received. Motion capture systems are capable of indoor localization but require large infrastructure and are prone to occlusion. To overcome these restrictions, a self-contained high-speed vision system was developed at the University of Tokyo in collaboration with Boeing Research & Technology. The system has been flight tested and shown to be capable of drift-free position and attitude estimates without any reliance on GPS signals. Furthermore, the positional accuracy and update rate is at least one order of magnitude superior to that of uncorrected GPS.
Place, publisher, year, edition, pages
Computer vision, Free flight, Attitude estimates, Autonomous aerial vehicles, High-speed vision systems, Indoor localization, Motion capture system, Positional accuracy, Satellite navigation, University of Tokyo, Global positioning system
IdentifiersURN: urn:nbn:se:kth:diva-167947DOI: 10.1109/AERO.2014.6836340ISI: 000356039102029ScopusID: 2-s2.0-84904012469ISBN: 9781479916221OAI: oai:DiVA.org:kth-167947DiVA: diva2:817377
2014 IEEE Aerospace Conference, 1 March 2014 through 8 March 2014, Big Sky, MT
QC 201506052015-06-052015-05-222015-08-11Bibliographically approved