Conference Proceeding

Improving Accuracy of MAV Pose Estimation using Visual Odometry

Brigham Young Univ. Provo, Provo
Proceedings of the American Control Conference 08/2007; DOI:10.1109/ACC.2007.4283137 pp.3721 - 3726 In proceeding of: American Control Conference, 2007. ACC '07
Source: IEEE Xplore

ABSTRACT We present a system for estimating MAV location and attitude with increased accuracy by coupling GPS/INS telemetry information with visual odometry (VO). An on-board camera provides image data from which VO information can be extracted, providing another source of information about aircraft pose. We present a technique for estimating and propagating the uncertainty associated with VO-based pose estimates, allowing this information to be fused with GPS-based estimates in an extended Kalman filtering framework. We present results demonstrating a substantial increase in accuracy of pose estimates.

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Keywords

coupling GPS/INS telemetry information
 
estimates
 
extended Kalman
 
GPS-based estimates
 
image data
 
MAV location
 
on-board camera
 
propagating
 
substantial increase
 
visual odometry