組み込みハードウェア上でのリアルタイム熱慣性オドメトリ：GPS非依存高速飛行に向けて
Real-Time Thermal-Inertial Odometry on Embedded Hardware for High-Speed GPS-Denied Flight
GPSが使えない高速飛行向けに、熱画像カメラとIMUなどを統合したリアルタイムの熱慣性オドメトリシステムを提案し、組み込みハードウェア上で30m/sの飛行を実現した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Austin Stone, Mark Petersen, Cammy Peterson
分類: cs.RO
原文アブストラクト
We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boson+ 640 longwave infrared camera, a high-rate IMU, a laser range finder, a barometer, and a magnetometer within a fixed-lag factor graph. To sustain reliable feature tracks under motion blur, low contrast, and rapid viewpoint changes, we employ a lightweight thermal-optimized front-end with multi-stage feature filtering. Laser range finder measurements provide per-feature depth priors that stabilize scale during weakly observable motion. High-rate inertial data is first pre-filtered using a Chebyshev Type II infinite impulse response (IIR) filter and then preintegrated, improving robustness to airframe vibrations during aggressive maneuvers. To address barometric altitude errors induced at high airspeeds, we train an uncertainty-aware gated recurrent unit (GRU) network that models the temporal dynamics of static pressure distortion, outperforming polynomial and multi-layer perceptron (MLP) baselines. Integrated on an NVIDIA Jetson Xavier NX, the complete system supports closed-loop quadrotor flight at 30 m/s with drift under 2% over kilometer-scale trajectories. These contributions expand the operational envelope of thermal-inertial navigation, enabling reliable high-speed flight in visually degraded and GPS-denied environments.
