マルチスケール基準マーカーを用いた回転翼機の離着陸ナビゲーション支援
The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft
入れ子状に配置可能なマルチスケール基準マーカーを活用した視覚SLAMを構築し、回転翼機の半自律離着陸における性能を実機実験で評価した。
著者: Jongwon Lee, Su Yeon Choi, Timothy Bretl
分類: cs.CV, cs.RO
原文アブストラクト
This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i.e., artificial landmarks that can be detected at a wide range of distances) to show its potential for reliable takeoff and landing navigation in rotorcraft. Prior work has shown that square markers with a black-and-white pattern of grid cells can be used to improve the performance of visual SLAM with color cameras. We extend this prior work to allow nested marker layouts. We evaluate performance during semi-autonomous takeoff and landing operations in a variety of environmental conditions by a DJI Matrice 300 RTK rotorcraft with two FLIR Blackfly color cameras, using RTK GNSS to obtain ground truth pose estimates. Performance measures include absolute trajectory error and the fraction of the number of estimated poses to the total frame. We release all of our results -- our dataset and the code of the implementation of the visual SLAM with fiducial markers -- to the public as open-source.
