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Optical Aircraft Navigation with Multi-Sensor SLAM and Infinite Depth Features

Andert, Franz und Krause, Stefan (2017) Optical Aircraft Navigation with Multi-Sensor SLAM and Infinite Depth Features. In: 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, Seiten 1030-1036. The 2016 International Conference on Unmanned Aircraft Systems, 13.-16. Jun. 2017, Miami, FL, USA. doi: 10.1109/ICUAS.2017.7991319.

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Offizielle URL: http://www.uasconferences.com/

Kurzfassung

In the context of optical-aided navigation and visual Simultaneous Localization And Mapping (SLAM) for satellite-denied aircraft navigation, this paper extends the monocular SLAM approach by the use of multiple sensors with different viewing directions. Downward optical sensors see other movements than forward-looking cameras, hence it is straightforward to combine the benefits of both. This combination helps to estimate all the six motion components with increased robustness, yielding a more stable and accurate state estimation for optical-aided navigation solutions. The method is evaluated with aerial data from manned and unmanned flights. In the data analysis, a satellite navigation dropout is simulated, and the flight trajectory is then reconstructed just by the optical data. The method is tested in small-scale scenarios as well as in longer flights with several kilometers of flight range. The results show some increased performance of an additional forward camera in comparison to a setup with only downward sensors. It is proposed to use such multi-sensor configurations wherever motion estimation ambiguities with a single camera are probable, especially when larger distances have to be flown with optical navigation.

elib-URL des Eintrags:https://elib.dlr.de/112513/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Optical Aircraft Navigation with Multi-Sensor SLAM and Infinite Depth Features
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Andert, Franzfranz.andert (at) dlr.dehttps://orcid.org/0000-0002-1638-7735NICHT SPEZIFIZIERT
Krause, Stefanstefan.krause (at) dlr.dehttps://orcid.org/0000-0001-6969-0036139066442
Datum:15 Juni 2017
Erschienen in:2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Nein
DOI:10.1109/ICUAS.2017.7991319
Seitenbereich:Seiten 1030-1036
Status:veröffentlicht
Stichwörter:Unmanned Aircraft, GPS-denied Navigation, Sensor Fusion, Simultaneous Localization and Mapping, Multi-Camera System
Veranstaltungstitel:The 2016 International Conference on Unmanned Aircraft Systems
Veranstaltungsort:Miami, FL, USA
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:13.-16. Jun. 2017
Veranstalter :IEEE/ICUAS Association
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Hubschrauber
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L RR - Rotorcraft Research
DLR - Teilgebiet (Projekt, Vorhaben):L - Der intelligente Drehflügler (alt)
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge
Hinterlegt von: Andert, Dr.-Ing. Franz
Hinterlegt am:31 Jul 2017 16:16
Letzte Änderung:20 Nov 2023 10:33

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