Real-time smart and standalone vision/IMU navigation sensor

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dc.contributor.authorChermak, Lounis
dc.contributor.authorAouf, Nabil
dc.contributor.authorRichardson, Mark A.
dc.contributor.authorVisentin, G.
dc.date.accessioned2016-07-26T14:03:06Z
dc.date.available2016-07-26T14:03:06Z
dc.date.issued2016-07-26
dc.description.abstractIn this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation. The real-time visual odometry algorithm is run on a nano ITX single-board computer (SBC) of 1.9 GHz CPU and 16-core GPU. High-resolution stereo images of 1.2 megapixel provide high-quality data. Tracking of up to 750 features is made possible at 5 fps thanks to a minimal, but efficient, features detection–stereo matching–feature tracking scheme runs on the GPU. Furthermore, the feature tracking algorithm benefits from assistance of a 100 Hz IMU whose accelerometer and gyroscope data provide inertial features prediction enhancing execution speed and tracking efficiency. In a space mission context, we demonstrate robustness and accuracy of the real-time generated 6-degrees-of-freedom trajectories from our visual odometry algorithm. Performance evaluations are comparable to ground truth measurements from an external motion capture system.en_UK
dc.description.sponsorshipThales and European Space Agencyen_UK
dc.identifier.citationChermak L, Aouf N, Richardson M, Visentin G, Real-time smart and standalone vision/IMU navigation sensor, Journal of Real-Time Image Processing, Available online 22 June 2016
dc.identifier.cris14841183
dc.identifier.issn1861-8200
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/10175
dc.identifier.urihttp://dx.doi.org/10.1007/s11554-016-0613-z
dc.rightsAttribution 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectReal time
dc.subjectSmart multi-platform
dc.subjectNavigation system
dc.subjectStereo visual odometry
dc.subjectIMU-assisted feature tracking
dc.titleReal-time smart and standalone vision/IMU navigation sensoren_UK
dc.typeArticleen_UK

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