Wudenka, Martin und Müller, Marcus Gerhard und Demmel, Nikolaus und Wedler, Armin und Triebel, Rudolph und Cremers, Daniel und Stürzl, Wolfgang (2021) Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. IEEE. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021-09-27 - 2021-10-01, Prague (online). doi: 10.1109/IROS51168.2021.9636844. ISBN 978-166541714-3. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/9636844
Kurzfassung
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration unhindered by terrain traversability. Robust self-localization is crucial for that. Cameras that are lightweight, cheap and information-rich sensors are already used to estimate the egomotion of vehicles. However, methods proven to work in manmade environments cannot simply be deployed on other planets. The highly repetitive textures present in the wastelands of Mars pose a huge challenge to descriptor matching based approaches. In this paper, we present an advanced robust monocular odometry algorithm that uses efficient optical flow tracking to obtain feature correspondences between images and a refined keyframe selection criterion. In contrast to most other approaches, our framework can also handle rotation-only motions that are particularly challenging for monocular odometry systems. Furthermore, we present a novel approach to estimate the current risk of scale drift based on a principal component analysis of the relative translation information matrix. This way we obtain an implicit measure of uncertainty. We evaluate the validity of our approach on all sequences of a challenging real-world dataset captured in a Mars-like environment and show that it outperforms state-of-the-art approaches. The source code is publicly available at: https://github.com/DLR-RM/granite
elib-URL des Eintrags: | https://elib.dlr.de/145998/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||||||||||
Titel: | Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2021 | ||||||||||||||||||||||||||||||||
Erschienen in: | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/IROS51168.2021.9636844 | ||||||||||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||||||||||
ISBN: | 978-166541714-3 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | visual odometry SLAM planetary robotic computer vision flying robots monocular robust MAV drone | ||||||||||||||||||||||||||||||||
Veranstaltungstitel: | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||||||||||
Veranstaltungsort: | Prague (online) | ||||||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 27 September 2021 | ||||||||||||||||||||||||||||||||
Veranstaltungsende: | 1 Oktober 2021 | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Multisensorielle Weltmodellierung (RM) [RO] | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Müller, Marcus Gerhard | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 22 Nov 2021 17:37 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:44 |
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