Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Visual-Inertial Odometry for Autonomous Ground Vehicles
KTH, School of Computer Science and Communication (CSC).
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Monocular cameras are prominently used for estimating motion of Unmanned Aerial Vehicles. With growing interest in autonomous vehicle technology, the use of monocular cameras in ground vehicles is on the rise. This is especially favorable for localization in situations where Global Navigation Satellite System (GNSS) is unreliable, such as open-pit mining environments. However, most monocular camera based approaches suffer due to obscure scale information. Ground vehicles impose a greater difficulty due to high speeds and fast movements. This thesis aims to estimate the scale of monocular vision data by using an inertial sensor in addition to the camera. It is shown that the simultaneous estimation of pose and scale in autonomous ground vehicles is possible by the fusion of visual and inertial sensors in an Extended Kalman Filter (EKF) framework. However, the convergence of scale is sensitive to several factors including the initialization error. An accurate estimation of scale allows the accurate estimation of pose. This facilitates the localization of ground vehicles in the absence of GNSS, providing a reliable fall-back option.

Abstract [sv]

Monokulära kameror används ofta vid rörelseestimering av obemannade flygande farkoster. Med det ökade intresset för autonoma fordon har även användningen av monokulära kameror i fordon ökat. Detta är fram för allt fördelaktigt i situationer där satellitnavigering (Global Navigation Satellite System (GNSS)) äropålitlig, exempelvis i dagbrott. De flesta system som använder sig av monokulära kameror har problem med att estimera skalan. Denna estimering blir ännu svårare på grund av ett fordons större hastigheter och snabbare rörelser. Syftet med detta exjobb är att försöka estimera skalan baserat på bild data från en monokulär kamera, genom att komplettera med data från tröghetssensorer. Det visas att simultan estimering av position och skala för ett fordon är möjligt genom fusion av bild- och tröghetsdata från sensorer med hjälp av ett utökat Kalmanfilter (EKF). Estimeringens konvergens beror på flera faktorer, inklusive initialiseringsfel. En noggrann estimering av skalan möjliggör också en noggrann estimering av positionen. Detta möjliggör lokalisering av fordon vid avsaknad av GNSS och erbjuder därmed en ökad redundans.

Place, publisher, year, edition, pages
2017. , p. 64
Keyword [en]
visual inertial odometry, sensor fusion, extended kalman filter, autonomous vehicle
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-217284OAI: oai:DiVA.org:kth-217284DiVA, id: diva2:1155019
External cooperation
Scania AB
Educational program
Master of Science - Systems, Control and Robotics
Supervisors
Examiners
Available from: 2017-11-15 Created: 2017-11-06 Last updated: 2018-01-13Bibliographically approved

Open Access in DiVA

fulltext(5572 kB)254 downloads
File information
File name FULLTEXT01.pdfFile size 5572 kBChecksum SHA-512
4d27ef32b4e92e015caa69b2749eea45928afcb4fc6e7b9174037b27565931f5209c77e0e5d89c18d304403f9c6aacd6043f8dac028263f6996e86ed9c75599c
Type fulltextMimetype application/pdf

By organisation
School of Computer Science and Communication (CSC)
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar
Total: 254 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 716 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf