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  1. تلفیق سیستم ناوبری اینرسی و ادومتری بصری
تلفیق سیستم ناوبری اینرسی و ادومتری بصری
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تلفیق سیستم ناوبری اینرسی و ادومتری بصری

اعرابی اردکانی، محمد سجاد Aarabi Ardakani, Mohammad Sajjad

Fusion of Inertial Navigation and Visual Odometry

Aarabi Ardakani, Mohammad Sajjad | 2022

332 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54935 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. The error of the inertial navigation system increases over time due to the cumulative errors of sensors. Inertial navigation system couples with sensors or other systems to prevent navigation system errors growth. One of the systems that can be used to couple with inertial navigation system is visual odometry. Visual odometry can calculate relative position of the camera at any time and estimate the device path through input images from one camera (Monocular) or multiple cameras (Stereo). Visual odometry algorithms improvements in recent decade cause this system used as real time. In this thesis, DSO algorithm, which is a direct method and monocular approach, couples with an inertial system in tracker and estimator parts. By coupling this algorithm with the inertial system, path scale missing problem will resolved and its accuracy in estimating Euler angles will increase. For optimization, two parameters are defined as weights for coupling. values of weights determine the effectiveness of the inertial system in each of the tracker and estimator parts of coupling. Finally, the effect of parameters values on the path estimation error is studied. The visual-inertial dataset is used in which the true path is available, for the modified algorithm accuracy test. The absolute error along the path has been calculated, comparing the results of this visual-inertial dataset algorithm with its true path
  9. Keywords:
  10. Visual Odometry ; Inertial Navigation System ; Stereo Camera Images ; Monocular Camera Images ; Direct Method ; Direct Sparse Odometry (DSO)

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