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
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;
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
DOI :
10.1109/CARPI.2010.5624435
