キーフレームベースの直接熱慣性オドメトリ
Keyframe-based Direct Thermal-Inertial Odometry
熱カメラの放射データと慣性計測を融合し、暗闇や粉塵・霧・煙などの視覚劣化環境で飛行ロボットのナビゲーションを可能にする最適化ベースのオドメトリ手法を提案し、屋内実験室と地下鉱山で検証した。
著者: Shehryar Khattak, Christos Papachristos, Kostas Alexis
分類: cs.RO, cs.CV
原文アブストラクト
This paper proposes an approach for fusing direct radiometric data from a thermal camera with inertial measurements to extend the robotic capabilities of aerial robots for navigation in GPS-denied and visually degraded environments in the conditions of darkness and in the presence of airborne obscurants such as dust, fog and smoke. An optimization based approach is developed that jointly minimizes the re-projection error of 3D landmarks and inertial measurement errors. The developed solution is extensively verified against both ground-truth in an indoor laboratory setting, as well as inside an underground mine under severely visually degraded conditions.
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