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Pose estimation

Robust Stereo Visual Odometry and SLAM for Unmanned Aerial Vehicles

Robust Stereo Visual Odometry and SLAM for Unmanned Aerial Vehicles

Stereo Visual Odometry and SLAM

Robust Dynamic RGB-D Localization and Mapping for UAVs

This reseach aims to provide the fast and robust visual algorithm for UAV to fly in the GPS-denied environment with high speed. The whole system consists of Asctec Pelican or DJI F550 UAV platform (hexcopter), Pixhawk, IntelNUC (Odroid) and RGB-D Sensor (Asus Xtion Pro Live). The real-time 6D pose is estimated by visual SLAM-based algorithm. The test environment includes: (1) Corridors; (2) Square with Obstacles; (3) Lab (Long-term); (4) School Entrance (Long-term); (5) Parking Places et al. The comparison with VICON and real flight show that the visual SLAM algorithm is accurate and robust.

Robust Dynamic RGB-D Localization and Mapping for UAVs

 

IMAV 2013 Competition

IMAV 2013 Competition