Logo der Freien Universität BerlinFreie Universität Berlin

Fachbereich Mathematik und Informatik


Service-Navigation

  • Startseite
  • Personen
  • Kontakt
  • Imprint
  • Datenschutz
Hinweise zur Datenübertragung bei der Google™ Suche
Fachbereich Mathematik und Informatik/Informatik/

Dahlem Center for Machine Learning and Robotics

Menü
  • Members

    loading...

  • Open Positions

    loading...

  • Publications

    loading...

  • Teaching

    loading...

  • Theses

    loading...

  • Projekte

    loading...

  • News

    loading...

  • Videos

    loading...

  • FAQs

    loading...

Mikronavigation

  • Startseite
  • Informatik
  • Arbeitsgruppen
  • Dahlem Center for Machine Learning and Robotics
  • Theses
  • Completed theses
  • Dissertationen
  • 2015

2015

1 Abschlussarbeit(en)

Grießbach, Dennis: Stereo-Vision-Aided Inertial Navigation

Betreuer
Raúl Rojas, Ralf Reulke
Abschluss
Dr. rer.nat.
Abgabedatum
21.05.2015

Kurzbeschreibung

Reliable information about position and attitude is an essential requirement for many applications. The work expounded in this paper aims at a tight integration of low-cost interital navigation and stereo vision to obtain this iformation. The method I present here is based on passive measurements and does not rely on external referencing. Thus, it provides a navigation solution for unknown indoor and outdoor environments.

Special attention is paid to a stereo vision-based system, capable of providing egomotion measurements with six degrees of freedom. Natural landmarks are extracted and tracked in consecutive image pairs aided by intertial measurements to constrain the correspondence problem. This effectively reduces the computational effort and avoids uncertainties that stem from mismatches, resulting in a robust tracking algorithm that runs in real time. In turn, the extracted egomotion is used to constrain the inertial sensor drift. In addition, the measured gravity serves as a vertical reference, stabilizing the navigation solution.

Based on dead reckoning, intertial navigation is widely used and has been studied in almost every aspect. To correct the inertial sensor errors, these systems are periodically provided with external data, e.g. a Global Positioning System (GPS) signal. The reliable short term properties of intertial data are complemented by the long-term stability of the external measurement. Although such methods do work very well, a similar solution is needed for navigating in difficult environments with erroneous or no external reference whatsoever. In such situations, using independent measurement systems like barometers, odometer, or vision-based systems is especially advantageous.

Hence, I present an approach for a heterogeneous multi-sensor system that involves both hardware and software, wherein aspects like synchronization, registration, and calibration of the sensor system are considered. As the optical system is of major importance, I've developed a new method that provides fast and reliable camera calibration. Herein, I also present my extensive analysis of possible error sources throughout the system. The result of this integration of stereo vision and intertial navigation is then proven in various pedestrian navigation tasks.

be-digital Pressekonferenz am 07.12.15Mexico Oktober 2015MiG Mexico 2015Finalisten German Open 2014Simulator-Erfinder: Professor Raul Rojas (l.) und David Dormagen von der AG Intelligente Systeme und RobotikMadeInGermany in MexicoThe Tony Sale Award winners 2014: Robert B Garner (L) and  Raul Rojas (R), Nov. 2014Able und BakerCarolo-Cup-Team2014Formalisierung und Automatisierung von Gödels GottesbeweisAutoNOMOS-Team 2011Besuch Senatorin Yzer am 22.03.13Die autonomen Fahrzeuge der AG Intelligente Systeme und RobotikArchaeocopterMulticopterEntwicklung einer RoboterbienePreisverleihung bei der Dubai Challenge

Dates

spinner

News

spinner

Service-Navigation

  • Startseite
  • Personen
  • Kontakt
  • Imprint
  • Datenschutz

Diese Seite

  • Drucken
  • RSS-Feed abonnieren