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TOWARDS STEREO VISION- AND LASER SCANNER-BASED UAS POSE ESTIMATION

  • A central issue for the autonomous navigation of mobile robots is to map unknown environments while simultaneously estimating its position within this map. This chicken-eggproblem is known as simultaneous localization and mapping (SLAM). Asctec’s quadrotor Pelican is a powerful and flexible research UAS (unmanned aircraft system) which enables the development of new real-time on-board algorithmsA central issue for the autonomous navigation of mobile robots is to map unknown environments while simultaneously estimating its position within this map. This chicken-eggproblem is known as simultaneous localization and mapping (SLAM). Asctec’s quadrotor Pelican is a powerful and flexible research UAS (unmanned aircraft system) which enables the development of new real-time on-board algorithms for SLAM as well as autonomous navigation. The relative UAS pose estimation for SLAM, usually based on low-cost sensors like inertial measurement units (IMU) and barometers, is known to be affected by high drift rates. In order to significantly reduce these effects, we incorporate additional independent pose estimation techniques using exteroceptive sensors. In this article we present first pose estimation results using a stereo camera setup as well as a laser range finder, individually. Even though these methods fail in few certain configurations we demonstrate their effectiveness and value for the reduction of IMU drift rates and give an outlook for further works towards SLAM.show moreshow less

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Metadaten
Document Type:Conference Proceeding
Author: Jens Kersten, Volker Rodehorst
DOI (Cite-Link):https://doi.org/10.25643/bauhaus-universitaet.2807Cite-Link
URN (Cite-Link):https://nbn-resolving.org/urn:nbn:de:gbv:wim2-20170314-28072Cite-Link
ISSN:1611-4086
Parent Title (English):Digital Proceedings, International Conference on the Applications of Computer Science and Mathematics in Architecture and Civil Engineering : July 20 - 22 2015, Bauhaus-University Weimar
Editor: Klaus GürlebeckGND, Tom LahmerORCiDGND
Language:English
Date of Publication (online):2017/03/03
Date of first Publication:2015/08/28
Release Date:2017/03/14
Publishing Institution:Bauhaus-Universität Weimar
Creating Corporation:Bauhaus-Universität Weimar
Institutes:Fakultät Bauingenieurwesen / Professur Angewandte Mathematik
Pagenumber:7
Tag:Data, information and knowledge modeling in civil engineering; Function theoretic methods and PDE in engineering sciences; Mathematical methods for (robotics and) computer vision; Numerical modeling in engineering; Optimization in engineering applications
GND Keyword:Angewandte Informatik; Angewandte Mathematik; Building Information Modeling; Computerunterstütztes Verfahren
Dewey Decimal Classification:000 Informatik, Informationswissenschaft, allgemeine Werke / 000 Informatik, Wissen, Systeme
500 Naturwissenschaften und Mathematik / 510 Mathematik
BKL-Classification:31 Mathematik / 31.80 Angewandte Mathematik
56 Bauwesen / 56.03 Methoden im Bauingenieurwesen
Collections:Bauhaus-Universität Weimar / Internationales Kolloquium über Anwendungen der Informatik und Mathematik in Architektur und Bauwesen, IKM, Weimar / Internationales Kolloquium über Anwendungen der Informatik und Mathematik in Architektur und Bauwesen, IKM, Weimar, 20. 2015
Licence (German):License Logo Creative Commons 4.0 - Namensnennung-Nicht kommerziell (CC BY-NC 4.0)