Transactions of Nanjing University of Aeronautics & Astronautics
Structure Information Aided Visual/Inertial Odometry of UAVs for Unidirectional Structural Environment
- Article
- Figures
- Metrics
- Preview PDF
- Reference
- Related
- Cited by
- Materials
Abstract:
The integrated utility system is indispensable for maintaining urban stability and services. Regular unmanned aerial vehicles （UAVs） inspections of these facilities are critical for ensuring operational urban systems. Such scenarios， characterized by spatially confined layouts and unidirectional extension， are defined as unidirectional structural （UDS） environment. Given the sparse textural features inherent and darker light to UDS environment， conventional methods fail to ensure safe UAV navigation. Therefore， this paper proposes a structure-assisted visual-inertial odometry algorithm for UAVs in dark UDS environment.The approach enhances the accuracy of camera feature extraction through an adaptive median filtering and BM3D （AMF-BM3D） denoising method， and incorporates an inertial fault-tolerant vanishing point technique to achieve high-precision， cumulative-error-free UAV yaw estimation， while utilizing gravity constraints to eliminate cumulative errors in roll and pitch angles. Finally， the extended Kalman filter （EKF） fuses pose data from conventional visual-inertial odometry （VIO） to obtain refined pose estimation. Experimental validation in UDS environment demonstrates that compared to traditional VIO， the algorithm proposed significantly enhances the accuracy of pose estimation and the safety of UAV flight in the UDS environment.
Keywords:
Project Supported:
This work was supported by the Basic Research Program of Jiangsu Province（No.BK20250175） and the National Natural Science Foundation of China（No.62273178）.
Clc Number:
V249.32
Articles
Mobile website
