Vision-aided Inertial Navigation for Power Line Inspection

被引：0

作者：

Tardif, Jean-Philippe ^{[1
]}

George, Michael ^{[1
]}

Laverne, Michel ^{[1
]}

Kelly, Alonzo ^{[1
]}

Stentz, Anthony ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Natl Robot Engn Ctr, Ten 40th St, Pittsburgh, PA 15201 USA

来源：

2010 1ST INTERNATIONAL CONFERENCE ON APPLIED ROBOTICS FOR THE POWER INDUSTRY | 2010年

关键词：

Visual Odometry; Inertial Navigation; Inspection; Unmanned Aerial Vehicle; MOTION ESTIMATION; IMAGE;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.

引用

页数：6

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