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On the Safe Navigation Problem for Unmanned Aircraft: Visual Odometry and Alignment Optimizations for UAV Positioning

Andert, Franz and Ammann, Nikolaus and Püschel, Jan and Dittrich, Jörg (2014) On the Safe Navigation Problem for Unmanned Aircraft: Visual Odometry and Alignment Optimizations for UAV Positioning. The 2014 International Conference on Unmanned Aircraft Systems, 2014-05-27 - 2014-05-30, Orlando, FL, USA. doi: 10.1109/ICUAS.2014.6842318.

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Abstract

With increasing automation of unmanned aircraft and the endeavor to fly between buildings in cities and in other occluded areas, safe navigation is essentially required but still a challenge. This paper is about the important issue of vehicle positioning in the case of satellite signal dropouts, and it presents a visual odometry method to compensate GPS positioning interruptions. The presented approach follows common triangulation principles and nonlinear optimization methods. Absolute scale is obtained by a stereo camera, although stereo is required only from time to time. In addition to the estimation of the vehicle position, the method estimates the camera alignment with respect to the vehicle, yielding a more accurate map and pose estimation. Returned vehicle poses are available in real-time with high update rates, being ready for an integration into state estimation and flight control. To demonstrate the algorithm properties, the paper incloses the evaluation of sensor data from unmanned helicopter flight tests. It shows the successful bridging of satellite positioning gaps by calculating the vehicle trajectory only by vision. Finally, the paper discusses some open issues for future work.

Item URL in elib:https://elib.dlr.de/89245/
Document Type:Conference or Workshop Item (Speech)
Title:On the Safe Navigation Problem for Unmanned Aircraft: Visual Odometry and Alignment Optimizations for UAV Positioning
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Andert, FranzFT-ULFUNSPECIFIEDUNSPECIFIED
Ammann, NikolausFT-ULFUNSPECIFIEDUNSPECIFIED
Püschel, JanFT-ULFUNSPECIFIEDUNSPECIFIED
Dittrich, JörgFT-ULFUNSPECIFIEDUNSPECIFIED
Date:29 May 2014
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI:10.1109/ICUAS.2014.6842318
Status:Published
Keywords:unmanned aircraft, GPS-denied navigation, visual SLAM, visual odometry
Event Title:The 2014 International Conference on Unmanned Aircraft Systems
Event Location:Orlando, FL, USA
Event Type:international Conference
Event Start Date:27 May 2014
Event End Date:30 May 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:27 May 2014 09:58
Last Modified:24 Apr 2024 19:55

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