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.

[1]  Maxime Lhuillier,et al.  Error propagations for local bundle adjustment , 2009, 2009 IEEE Conference on Computer Vision and Pattern Recognition.

[2]  Alonzo Kelly,et al.  A new approach to vision-aided inertial navigation , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Andrew Howard,et al.  Real-time stereo visual odometry for autonomous ground vehicles , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Patrick Doherty,et al.  Vision for a UAV helicopter , 2002 .

[5]  Hauke Strasdat,et al.  Real-time monocular SLAM: Why filter? , 2010, 2010 IEEE International Conference on Robotics and Automation.

[6]  Stergios I. Roumeliotis,et al.  On the treatment of relative-pose measurements for mobile robot localization , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[7]  D. Jones.  Power line inspection - a UAV concept , 2005 .

[8]  S. Shafer,et al.  Dynamic stereo vision , 1989 .

[9]  Raja Sengupta,et al.  Vision-Based Monitoring of Locally Linear Structures Using an Unmanned Aerial Vehicle , 2008 .

[10]  Aníbal Ollero,et al.  Vision-Based Odometry and SLAM for Medium and High Altitude Flying UAVs , 2009, J. Intell. Robotic Syst..

[11]  Kostas Daniilidis,et al.  Monocular visual odometry in urban environments using an omnidirectional camera , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Andrew W. Fitzgibbon,et al.  Bundle Adjustment - A Modern Synthesis , 1999, Workshop on Vision Algorithms.

[13]  Stergios I. Roumeliotis,et al.  Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments , 2007, Robotics: Science and Systems.

[14]  Seth J. Teller,et al.  Epipolar Constraints for Vision-Aided Inertial Navigation , 2005, 2005 Seventh IEEE Workshops on Applications of Computer Vision (WACV/MOTION'05) - Volume 1.

[15]  David Nister,et al.  Bundle Adjustment Rules , 2006 .

[16]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[17]  Kurt Konolige,et al.  FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping , 2008, IEEE Transactions on Robotics.

[18]  Sanjiv Singh,et al.  Motion Estimation from Image and Inertial Measurements , 2004, Int. J. Robotics Res..

[19]  Kurt Konolige,et al.  Large-Scale Visual Odometry for Rough Terrain , 2007, ISRR.

[20]  Gaurav S. Sukhatme,et al.  Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle , 2008, FSR.

[21]  Jonghyuk Kim,et al.  Six DoF Decentralised SLAM , 2003 .

[22]  Olivier Stasse,et al.  MonoSLAM: Real-Time Single Camera SLAM , 2007, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[23]  K. Konolige.  Rough Terrain Visual Odometry , 2007 .

[24]  R Chellappa,et al.  Robust structure from motion estimation using inertial data. , 2001, Journal of the Optical Society of America. A, Optics, image science, and vision.

[25]  Pascal Vasseur,et al.  Omnidirectional vision on UAV for attitude computation , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[26]  Robert M. Haralick,et al.  Review and analysis of solutions of the three point perspective pose estimation problem , 1994, International Journal of Computer Vision.

[27]  James R. Bergen,et al.  Visual odometry for ground vehicle applications , 2006, J. Field Robotics.

[28]  Stergios I. Roumeliotis,et al.  Augmenting inertial navigation with image-based motion estimation , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).