On the VINS Resource-Allocation Problem for a Dual-Camera, Small-Size Quadrotor
| Autor: | Luis C. Carrillo-Arce, Tien Do, Stergios I. Roumeliotis, Kejian J. Wu |
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| Rok vydání: | 2017 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology Mean squared error Computer science Real-time computing Stereo pair 02 engineering and technology Dual (category theory) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Resource allocation 020201 artificial intelligence & image processing Information gain computer Inertial navigation system computer.programming_language |
| Zdroj: | Springer Proceedings in Advanced Robotics ISBN: 9783319501147 ISER |
| DOI: | 10.1007/978-3-319-50115-4_47 |
| Popis: | In this paper, we present a novel resource-allocation problem formulation for vision-aided inertial navigation systems (VINS) for efficiently localizing micro aerial vehicles equipped with two cameras pointing at different directions. Specifically, based on the quadrotor’s current speed and median distances to the features, the proposed algorithm efficiently distributes processing resources between the two cameras by maximizing the expected information gain from their observations. Experiments confirm that our resource-allocation scheme outperforms alternative naive approaches in achieving significantly higher VINS positioning accuracy when tested onboard quadrotors with severely limited processing resources. |
| Databáze: | OpenAIRE |
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