多様体最適化を用いた視覚慣性自律ヘリコプター着陸の状態推定
State Estimation in Visual Inertial Autonomous Helicopter Landing Using Optimisation on Manifold
IMUと単眼カメラのデータを融合し、多様体上の非線形最適化でヘリコプターの位置・姿勢とヘリパッド位置を推定する着陸支援手法を提案した。
著者: Thinh Hoang Dinh, Hieu Le Thi Hong, Tri Ngo Dinh
分類: cs.CV, cs.RO
原文アブストラクト
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses data from an Inertial Measurement Unit (IMU) and a monocular camera which is capable of detecting helipads position in the image plane. The algorithm utilises manifold based nonlinear optimisation over preintegrated IMU measurements and reprojection error in temporally uniformly distributed keyframes, exhibiting good performance in terms of accuracy and being computationally feasible. Our contributions of this paper are the formal address of the landmarks Jacobian expressions and the adaptation of equality constrained Gauss-Newton method to this specific problem. Numerical simulations on MATLAB/Simulink confirm the validity of given claims.