| Title: | GS9-1 Analysis of onboard sensor-based odometry for a quadrotor UAV in outdoor environment |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 196-199 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.GS9-1 |
| Author(s): | Aidar Gabdullin, Grigory Shvedov, Mikhail Ivanou, Ilya Afanasyev |
| Publication Date: | February 2, 2018 |
| Keywords: | monocular visual odometry, GPS-denied environment, quadrotor UAV, SLAM, ROS |
| Abstract: | This article introduces a comparative analysis of a quadrotor UAV trajectories evaluated by processing onboard sensors (camera and IMU) with ROS-based monocular visual odometry software. Parrot Bebop drone was launched outdoor within teleoperated closed-loop trajectory along a known perimeter of a square work area, recording sensor's telemetry data for offline processing. We compared UAV monocular SLAM trajectories with Bebop visual-inertial odometry and verified them with the ground truth estimated by an external observer (a hovering quadcopter DJI Mavic, flying at the height of 40m with a camera pointing downwards and tracking near-surface Bebop's flight). |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS9/GS9-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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