Title :
An Embedded Solution to Visual Mapping for Consumer Drones
Author :
Guyue Zhou ; Ang Liu ; Kang Yang ; Tao Wang ; Zexiang Li
Author_Institution :
Dept. of Electron. & Comput. Eng., Hong Kong Univ. of Sci. & Technol., Hong Kong, China
Abstract :
In this paper, we propose a real-time visual mapping scheme which can be implemented on a low-cost embedded system for consumer-level ratio control (RC) drones. In our work, a 3-dimensional occupancy grid map is obtained based on an estimated trajectory from data fusion of multiple on-board sensors, composed of two downward-facing cameras, two forward-facing cameras, a GPS receiver, a magnetic compass and an inertial measurement unit (IMU) with 3-axis accelerometers and gyroscopes. Taking the advantages of the low-cost FPGA and ARM NEON intrinsics, we run our visual odometry and mapping algorithms at 10Hz on board. Meanwhile, we also present a hierarchical multi-sensor fusion algorithm to provide a robust trajectory for mapping usage. Finally, we verify the feasibility of our approaches and serval potential applications with experimental results in complex indoor/outdoor environments.
Keywords :
aerospace robotics; distance measurement; field programmable gate arrays; gyroscopes; image sensors; mobile robots; robot vision; sensor fusion; 3-axis accelerometers; 3-dimensional occupancy grid map; ARM NEON intrinsics; GPS receiver; IMU; consumer drones; consumer-level ratio control drones; data fusion; downward-facing cameras; embedded solution; forward-facing cameras; frequency 10 Hz; gyroscopes; hierarchical multi-sensor fusion algorithm; inertial measurement unit; low-cost FPGA; low-cost embedded system; magnetic compass; multiple on-board sensors; real-time visual mapping scheme; robust trajectory; visual mapping; visual odometry; Cameras; Field programmable gate arrays; Global Positioning System; Hardware; Sensors; Unmanned aerial vehicles; Visualization; embedded vision; sensor fusion; visual mapping;
Conference_Titel :
Computer Vision and Pattern Recognition Workshops (CVPRW), 2014 IEEE Conference on
Conference_Location :
Columbus, OH
DOI :
10.1109/CVPRW.2014.102