Affiliation of Author(s):自动化学院

Journal:OPTICAL ENGINEERING

Key Words:hybrid visual odometry semidirect visual odometry stereo camera unmanned aerial vehicles hovering

Abstract:A visual localization approach for unmanned aerial vehicles (UAVs) based on the hybrid real-time stereo visual odometry (VO) is presented. The hybrid VO initializes the semidirect visual odometry (SVO) with depth obtained from the stereo camera, which runs with the monocular scheme at 30 Hz. Meanwhile, a feature-based stereo VO runs in a parallel thread to improve the reliability. Considering the robustness of the feature-based VO, we not only are able to estimate the pose of the UAV with the same rate of the incoming images but also to recover the pose of the UAV when the SVO fails. We demonstrate the accuracy and the reliability of the hybrid VO based on a public benchmark dataset and a dataset recorded on our experimental platform. In addition, the autonomous hovering experiment verifies that the estimated result is fast and accurate enough to control the position Of the UAV. (C) 2018 Society of Photo-Optical Instrumentation Engineers (SPIE)

ISSN No.:0091-3286

Translation or Not:no

Date of Publication:2018-07-01

Co-author:Liu, Yang

Correspondence Author:wcq