Exploiting Attitude Sensing in Vision-Based Navigation for an Airship
An Attitude Heading Reference System (AHRS) is used to compensate for rotational motion, facilitating vision-based navigation above smooth terrain by generating virtual images to simulate pure translation movement. The AHRS combines inertial and earth field magnetic sensors to provide absolute orien...
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| Format: | Article |
| Language: | English |
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Wiley
2009-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2009/854102 |
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| author | Luiz G. B. Mirisola Jorge Dias |
| author_facet | Luiz G. B. Mirisola Jorge Dias |
| author_sort | Luiz G. B. Mirisola |
| collection | DOAJ |
| description | An Attitude Heading Reference System (AHRS) is used to compensate for rotational motion, facilitating vision-based navigation above smooth terrain by generating virtual images to simulate pure translation movement. The AHRS combines inertial and earth field magnetic sensors to provide absolute orientation measurements, and our recently developed calibration routine determines the rotation between the frames of reference of the AHRS and the monocular camera. In this way, the rotation is compensated, and the remaining translational motion is recovered by directly finding a rigid transformation to register corresponding scene coordinates. With a horizontal ground plane, the pure translation model performs more accurately than image-only approaches, and this is evidenced by recovering the trajectory of our airship UAV and comparing with GPS data. Visual odometry is also fused with the GPS, and ground plane maps are generated from the estimated vehicle poses and used to evaluate the results. Finally, loop closure is detected by looking for a previous image of the same area, and an open source SLAM package based in 3D graph optimization is employed to correct the visual odometry drift. The accuracy of the height estimation is also evaluated against ground truth in a controlled environment. |
| format | Article |
| id | doaj-art-f36027c940c4485b8e79ea28d0957cd7 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2009-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-f36027c940c4485b8e79ea28d0957cd72025-02-03T01:21:43ZengWileyJournal of Robotics1687-96001687-96192009-01-01200910.1155/2009/854102854102Exploiting Attitude Sensing in Vision-Based Navigation for an AirshipLuiz G. B. Mirisola0Jorge Dias1Institute of Systems and Robotics, University of Coimbra, Pólo II, 3030 Coimbra, PortugalInstitute of Systems and Robotics, University of Coimbra, Pólo II, 3030 Coimbra, PortugalAn Attitude Heading Reference System (AHRS) is used to compensate for rotational motion, facilitating vision-based navigation above smooth terrain by generating virtual images to simulate pure translation movement. The AHRS combines inertial and earth field magnetic sensors to provide absolute orientation measurements, and our recently developed calibration routine determines the rotation between the frames of reference of the AHRS and the monocular camera. In this way, the rotation is compensated, and the remaining translational motion is recovered by directly finding a rigid transformation to register corresponding scene coordinates. With a horizontal ground plane, the pure translation model performs more accurately than image-only approaches, and this is evidenced by recovering the trajectory of our airship UAV and comparing with GPS data. Visual odometry is also fused with the GPS, and ground plane maps are generated from the estimated vehicle poses and used to evaluate the results. Finally, loop closure is detected by looking for a previous image of the same area, and an open source SLAM package based in 3D graph optimization is employed to correct the visual odometry drift. The accuracy of the height estimation is also evaluated against ground truth in a controlled environment.http://dx.doi.org/10.1155/2009/854102 |
| spellingShingle | Luiz G. B. Mirisola Jorge Dias Exploiting Attitude Sensing in Vision-Based Navigation for an Airship Journal of Robotics |
| title | Exploiting Attitude Sensing in Vision-Based Navigation for an Airship |
| title_full | Exploiting Attitude Sensing in Vision-Based Navigation for an Airship |
| title_fullStr | Exploiting Attitude Sensing in Vision-Based Navigation for an Airship |
| title_full_unstemmed | Exploiting Attitude Sensing in Vision-Based Navigation for an Airship |
| title_short | Exploiting Attitude Sensing in Vision-Based Navigation for an Airship |
| title_sort | exploiting attitude sensing in vision based navigation for an airship |
| url | http://dx.doi.org/10.1155/2009/854102 |
| work_keys_str_mv | AT luizgbmirisola exploitingattitudesensinginvisionbasednavigationforanairship AT jorgedias exploitingattitudesensinginvisionbasednavigationforanairship |