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Aerial Visual-Inertial Odometry Performance Evaluation.
| 题名： | Aerial Visual-Inertial Odometry Performance Evaluation. |
| 作者： | Carson, D. J. |
| 关键词： | Algorithms, Kalman filters, Sensor fusion, Global positioning systems, Computer vision, Inertial navigation systems, Simultaneous localization and mapping, Digital data, Data set, Accuracy, Pattern recognition, Detectors, Visual odometry, Vision navigation, Optical flow |
| 摘要： | With the cheapening of optical camera technology and an increasing interest in reducing GPS dependency, computer vision-based navigation algorithms have grown in popularity. This experiment implementsfive visual odometry algorithms into a common framework, evaluating their accuracy in a variety of situations on an unprecedented level. A variety of techniques are compared and contrasted including FAST-features versus gridded pixel-features, inertial-aided and inertial-independent rotation estimation, the effectiveness of image histogram equalization, the benefits of image rectification, and two-frame versus multi-frame visual odometry. |
| 报告类型： | 科技报告 |
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