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Visual-inertial sensor fusion with a bio-inspired polarization compass for navigation of MAVs

Steidle, Florian and Stürzl, Wolfgang and Triebel, Rudolph (2019) Visual-inertial sensor fusion with a bio-inspired polarization compass for navigation of MAVs. In: IMAV2019 Proceedings. 11th International Micro Air Vehicle Competition and Conference, 30 Sep - 04 Oct 2019, Madrid, Spain.

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Official URL: http://www.imavs.org/imav2019-proceedings/

Abstract

We present the integration of a polarization compass in a visual-inertial sensor fusion framework onboard a Micro Aerial Vehicle (MAV). The polarization compass estimates the position of the sun indirectly from the pattern of skylight polarization even in cases where the sun is not visible. It is based on a polarization sensor which consists of a standard RGB camera and a small polarizing unit that creates three polarization images on the camera sensor. Due to its low weight and compact size it is ideally suited for small aerial systems. The readings from the polarization compass are fused with angular rate and acceleration measurements from an Inertial Measurement Unit (IMU) and the 6 Degrees of Freedom (DOF) pose changes from the Visual Odometry (VO) in an indirect extended Kalman filter (EKF). Two different approaches to integrate the readings from the polarization compass in the filter are presented and compared. We show in experiments that adding a compass to visual-inertial sensor fusion does not only eliminate the drift of yaw angle estimates but also improves overall state estimation of the system.

Item URL in elib:https://elib.dlr.de/131074/
Document Type:Conference or Workshop Item (Speech)
Title:Visual-inertial sensor fusion with a bio-inspired polarization compass for navigation of MAVs
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Steidle, FlorianFlorian.Steidle (at) dlr.deUNSPECIFIED
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.deUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.deUNSPECIFIED
Date:October 2019
Journal or Publication Title:IMAV2019 Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:polarization compass, visual-inertial sensor fusion, UAV
Event Title:11th International Micro Air Vehicle Competition and Conference
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:30 Sep - 04 Oct 2019
Organizer:Technical University of Madrid
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Steidle, Florian
Deposited On:22 Nov 2019 09:10
Last Modified:22 Nov 2019 09:10

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