电力线检测用视觉辅助惯性导航

2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI:10.1109/CARPI.2010.5624435

J. Tardif, M. George, Michel Laverne, A. Kelly, A. Stentz

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引用次数: 5

摘要

我们提出了一种立体视觉辅助惯性导航系统，并展示了它在使用无人机近距离检查电力线方面的潜力。视觉里程计的最新发展和一种新提出的惯性测量单元与视觉里程计松散耦合的算法使这成为可能。我们的实验显示出有希望的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Vision-aided inertial navigation for power line inspection

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.

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2010 1st International Conference on Applied Robotics for the Power Industry

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