التفاصيل البيبلوغرافية
| العنوان: |
A precise localization algorithm for unmanned aerial vehicles integrating visual-internal odometry and cartographer. |
| المؤلفون: |
Jiaqi Xu, Zhou Chen, Jie Chen, Jingyan Zhou, Xiaofei Du |
| المصدر: |
Journal of Measurements in Engineering; Jun2024, Vol. 12 Issue 2, p284-297, 14p |
| مصطلحات موضوعية: |
DRONE aircraft, CARTOGRAPHERS, AERONAUTICAL navigation, ALGORITHMS, NAUTICAL charts, POINT cloud |
| مستخلص: |
Accurate positioning in space is an important foundation for ensuring the stability of autonomous flight and successful mapping and navigation of unmanned aerial vehicles (UAVs). At present, the SLAM algorithm based on the Cartographer algorithm for real-time positioning and mapping is widely used in fields such as robot navigation and autonomous driving. However, in the context of UAV applications, this algorithm has a high dependence on the amount of point cloud information in the surrounding environment, and cannot achieve precise positioning in open spaces with insufficient lighting and fewer feature points, resulting in significant mapping errors. In order to solve the problem of low positioning estimation accuracy in the Cartographer algorithm in above environment, this paper proposes a precise positioning algorithm for UAVs that integrates VIO and Cartographer. This algorithm can continuously output more accurate position estimation information during UAV flight, compensating for the problem of inaccurate position estimation caused by partial feature loss or coordinate system drift in point clouds. In addition, this algorithm ensures navigation obstacle avoidance in narrow spaces by improving positioning accuracy and mapping accuracy, making it more applicable in the field of UAVs. Finally, the effectiveness of the proposed positioning algorithm was verified through experimental analysis of the Cartographer dataset and practical testing of UAVs in real scenarios. [ABSTRACT FROM AUTHOR] |
|
Copyright of Journal of Measurements in Engineering is the property of JVE International Ltd. and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Complementary Index |
Full Text Finder