泡泡一分钟：Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints

张宁

Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints

具有SWAP约束的四旋翼半密集视觉惯性里程计和建图
 https://ieeexplore.ieee.org/document/8463163

Wenxin Liu, Giuseppe Loianno, Kartik Mohta, Kostas Daniilidis, and Vijay Kumar

Abstract—Micro Aerial Vehicles have the potential to assist humans in real life tasks involving applications such as smart homes, search and rescue, and architecture construction. To enhance autonomous navigation capabilities these vehicles need to be able to create dense 3D maps of the environment, while concurrently estimating their own motion. In this paper, we are particularly interested in small vehicles that can navigate cluttered indoor environments. We address the problem of visual inertial state estimation, control and 3D mapping on platforms with Size, Weight, And Power (SWAP) constraints. The proposed approach is validated through experimental results on a 250g, 22cm diameter quadrotor equipped only with a stereo camera and an IMU with a computationallylimited CPU showing the ability to autonomously navigate, while concurrently creating a 3D map of the environment.

微型飞行器有可能协助人类完成现实生活任务，包括智能家居，搜索和救援以及建筑施工等应用。为了增强自主导航能力，这些车辆需要能够创建密集的环境3D地图，同时估计他们自己的运动。在本文中，我们对能够驾驭杂乱室内环境的小型车辆特别感兴趣。我们解决了具有尺寸，重量和功率（SWAP）约束的平台上的视觉惯性状态估计，控制和3D建图的问题。所提出的方法通过250g，22cm直径四旋翼飞行器的实验结果得到验证，该四旋翼飞行器仅配备立体摄像机和具有计算限制CPU的IMU，其显示自主导航的能力，同时创建环境的3D地图。