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所属单位：自动化学院

发表刊物：OPTICAL ENGINEERING

关键字：hybrid visual odometry semidirect visual odometry stereo camera unmanned aerial vehicles hovering

摘要：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号：0091-3286

是否译文：否

发表时间：2018-07-01

合写作者：Liu, Yang

通讯作者：王从庆