Inertially aided visual odometry for miniature air vehicles in GPS-denied environments

DOI10.1007/S10846-008-9294-6MaRDI QIDQ614644zbMATH OpenOpenAlexFDO

Authors Bryce B. Ready, Clark N. Taylor

Publication date 4 January 2011

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s10846-008-9294-6

zbMATH Keywords

Kalman filterGPS-denied navigationInertially aided visual odometryMiniature unmanned air vehiclesPose estimationSensor fusionVisual odometryVisually aided inertial navigation

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40)

Recommendations

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Cites work

• Lucas-Kanade 20 years on: a unifying framework
• Multiple View Geometry in Computer Vision
• Visual odometry for ground vehicle applications

Cited in

(8)

• An improved multi-state constraint Kalman filter for visual-inertial odometry
• Combined visual and intertial navigation for an unmanned aerial vehicle
• Fusion of inertial navigation system with 10 axes and computer vision for UAV navigation
• Vision-based unmanned aerial vehicle navigation using geo-referenced information
• Vision-aided inertial navigation for precise planetary landing: analysis and experiments
• Temporal delay estimation of sparse direct visual inertial odometry for mobile robots
• UAV navigation based on videosequences captured by the onboard video camera
• A novel fusion scheme for vision aided inertial navigation of aerial vehicles

Describes a project that uses

Uses Software

• MonoSLAM

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