Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments
Journal of Field Robotics
Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV
Journal of Intelligent and Robotic Systems
Parallel tracking and mapping with multiple cameras on an unmanned aerial vehicle
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Journal of Intelligent and Robotic Systems
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We present a quadrotor Micro Aerial Vehicle (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.