Using trajectory oscillation timing improves in-flight odometry based solely on optic flows

Autor: Lucia Bergantin, Charles Coquet, Amaury Nègre, Raharijoana Thibault Raharijoana, Nicolas Marchand, Franck Ruffier
Přispěvatelé: Institut des Sciences Moléculaires de Marseille (ISM2), Aix Marseille Université (AMU)-École Centrale de Marseille (ECM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS), GIPSA-Services (GIPSA-Services), Grenoble Images Parole Signal Automatique (GIPSA-lab), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA), Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-COPERNIC), GIPSA Pôle Sciences des Données (GIPSA-PSD), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: International Micro Air Vehicle Conference
International Micro Air Vehicle Conference, Sep 2022, Delft, Netherlands
IMAV 2022-13th international micro air vehicle conference (IMAV)
IMAV 2022-13th international micro air vehicle conference (IMAV), Sep 2022, Delft, Netherlands
HAL
Popis: International audience; Traveled distance estimation is a common problem for robotic applications taking place in unknown environments where GPS is not available. In drones, the presence of weight and computational power constraints leads to the importance of developing odometry strategies based on minimilastic equipment. In this study, we imposed upon a hexarotor to perform up-and-down oscillatory motions while flying forward to test a self-scaled scheme of a visual odometer for the first time. For the odometry, the downward translational optic flow was scaled by the current visually estimated flight height and then mathematically integrated to evaluate the total distance traveled. The self-oscillatory trajectory generated successions of contraction and expansion in the optic flow vector field, which allowed to estimate the flight height of the hexarotor by means of an Extended Kalman Filter. We present three strategies based on sensor fusion that rely on no, precise or rough prior knowledge of the optic flow variations imposed by the sinusoidal trajectory. The rough prior knowledge strategy uses solely the timing of the variations of the optic flow. Tests were performed in a flying arena, where the hexarotor followed a circular trajectory while oscillating up-and-down over about 50m under illuminances of 117lux and 1518lux.
Databáze: OpenAIRE
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