DocumentCode
2892668
Title
Vision-aided inertial navigation for power line inspection
Author
Tardif, Jean-Philippe ; George, Michael ; Laverne, Michel ; Kelly, Alonzo ; Stentz, Anthony
Author_Institution
Nat. Robot. Eng. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
2010
fDate
5-7 Oct. 2010
Firstpage
1
Lastpage
6
Abstract
We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.
Keywords
aircraft control; inertial navigation; inspection; mobile robots; power transmission lines; remotely operated vehicles; robot vision; stereo image processing; inertial measurement unit; power line inspection; stereo vision-aided inertial navigation system; unmanned aerial vehicle; visual odometry; Cameras; Global Positioning System; Robots; Trajectory; Uncertainty; Unmanned aerial vehicles; Visualization; Inertial Navigation; Inspection; Unmanned Aerial Vehicle; Visual Odometry;
fLanguage
English
Publisher
ieee
Conference_Titel
Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on
Conference_Location
Montreal, QC
Print_ISBN
978-1-4244-6633-7
Type
conf
DOI
10.1109/CARPI.2010.5624435
Filename
5624435
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