基于地理配准三维点云的无人机综合导航系统

2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2017-11-01 DOI:10.1109/MFI.2017.8170396

Shuai Zhang, Shuaijun Wang, Chengyang Li, Guocheng Liu, Qi Hao

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引用次数: 2

摘要

为了提高无人机的巡航效率，无人机的自主导航需要大量的传感方式。本文提出了一种基于地理配准三维点云与本体感知传感器(IMU、里程计和气压计)和二维谷歌地图融合的gps环境下无人机自主导航和路径规划系统。本文的贡献主要体现在:1)结合二维地图和地理配准的三维点云;2)局部点云配准到全局地理配准的三维点云;3)视觉里程计、IMU、GPS和气压计的集成。实验和仿真结果验证了该系统的有效性和鲁棒性。

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An integrated UAV navigation system based on geo-registered 3D point cloud

The autonomous navigation of unmanned aerial vehicles (UAVs) require a lot of sensing modalities to improve their cruise efficiency. This paper presents a system for autonomous navigation and path planning of UAVs in GPS-denied environment based on the fusion of geo-registered 3D point clouds with proprioceptive sensors (IMU, odometry and barometer) and the 2D Google maps. The contributions of this paper are illustrated as follows: 1) combination of 2D map and geo-registered 3D point clouds; 2) registration of local point cloud to global geo-registered 3D point clouds; 3) integration of visual odometry, IMU, GPS and barometer. Experiment and simulation results demonstrate the efficacy and robustness of the proposed system.

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2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

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