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

Andert, Franz and Krause, Stefan (2017) Optical Aircraft Navigation with Multi-Sensor SLAM and Infinite Depth Features. The 2016 International Conference on Unmanned Aircraft Systems, 13.-16. Jun. 2017, Miami, FL, USA.

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

Abstract

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.

Item URL in elib:https://elib.dlr.de/112513/
Document Type:Conference or Workshop Item (Speech)
Title:Optical Aircraft Navigation with Multi-Sensor SLAM and Infinite Depth Features
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Andert, Franzfranz.andert (at) dlr.dehttps://orcid.org/0000-0002-1638-7735
Krause, Stefanstefan.krause (at) dlr.deUNSPECIFIED
Date:15 June 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1030-1036
Status:Published
Keywords:Unmanned Aircraft, GPS-denied Navigation, Sensor Fusion, Simultaneous Localization and Mapping, Multi-Camera System
Event Title:The 2016 International Conference on Unmanned Aircraft Systems
Event Location:Miami, FL, USA
Event Type:international Conference
Event Dates:13.-16. Jun. 2017
Organizer:IEEE/ICUAS Association
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:31 Jul 2017 16:16
Last Modified:31 Jul 2017 16:16

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