
Open access
Date
2018Type
- Conference Paper
Abstract
Motivated by the need for globally consistent tracking and mapping before autonomous robot navigation becomes realistically feasible, this paper presents a novel back-end to monocular-inertial odometry. As some of the most challenging platforms for vision-based perception, we evaluate the performance of our system using Unmanned Aerial Vehicles (UAVs). Our experimental validation demonstrates that the proposed approach achieves drift correction and metric scale estimation from a single UAV on benchmarking datasets. Furthermore, the generality of our approach is demonstrated to achieve globally consistent maps built in a collaborative manner from two UAVs, each equipped with a monocular-inertial sensor suite, showing the possible gains opened by collaboration amongst robots to perform SLAMVideo. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000248373Publication status
publishedBook title
Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)Pages / Article No.
Publisher
IEEEEvent
Organisational unit
09559 - Chli, Margarita (SNF-Professur) / Chli, Margarita (SNF-Professur)
Funding
644128 - Collaborative Aerial Robotic Workers (SBFI)
More
Show all metadata