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Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments

Grießbach, Denis und Baumbach, Dirk und Börner, Anko und Zuev, Sergey (2013) Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments. ISPRS Acquisition and Modelling of Indoor and Enclosed Environments 2013, 11.-13. Dez. 2013, Kapstadt, Südafrika.

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Offizielle URL: http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-4-W4/13/2013/isprsarchives-XL-4-W4-13-2013.pdf

Kurzfassung

Accurate knowledge of position and orientation is a prerequisite for many applications regarding unmanned navigation, mapping, or environmental modelling. GPS-aided inertial navigation is the preferred solution for outdoor applications. Nevertheless a similar solution for navigation tasks in difficult environments with erroneous or no GPS-data is needed. Therefore a stereo vision aided inertial navigation system is presented which is capable of providing real-time local navigation for indoor applications. A method is described to reconstruct the ego motion of a stereo camera system aided by inertial data. This, in turn, is used to constrain the inertial sensor drift. The optical information is derived from natural landmarks, extracted and tracked over consequent stereo image pairs. Using inertial data for feature tracking effectively reduces computational costs and at the same time increases the reliability due to constrained search areas. Mismatched features, e.g. at repetitive structures typical for indoor environments are avoided. An Integrated Positioning System (IPS) was deployed and tested on an indoor navigation task. IPS was evaluated for accuracy, ro- bustness, and repeatability in a common office environment. In combination with a dense disparity map, derived from the navigation cameras, a high density point cloud is generated to show the capability of the navigation algorithm.

Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Grießbach, Denisdenis.griessbach@dlr.de
Baumbach, Dirkdirk.baumbach@dlr.de
Börner, Ankoanko.boerner@dlr.de
Zuev, Sergeysergey.zuev@dlr.de
Datum:Dezember 2013
Referierte Publikation:Ja
Status:veröffentlicht
Stichwörter:Inertial Navigation, Indoor Navigation, Stereo Vision, Multisensor Data Fusion
Veranstaltungstitel:ISPRS Acquisition and Modelling of Indoor and Enclosed Environments 2013
Veranstaltungsort:Kapstadt, Südafrika
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:11.-13. Dez. 2013
Veranstalter :ISPRS
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Erdbeobachtung
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R EO - Erdbeobachtung
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben Anwendungn Optik: 3-D, Datenfusion, optische Navigation
Standort: Berlin-Adlershof
Institute & Einrichtungen:Institut für Optische Sensorsysteme > Informationsverarbeitung OS
Hinterlegt von: Denis Grießbach
Hinterlegt am:10 Feb 2014 08:04
Letzte Änderung:08 Mai 2014 23:20

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