Monocular Visual Odometry (VO) is widely used for small aerial platforms navigation. However, environment conditions can limit the use of cameras. Radar Odometry (RO) can be envisaged when illumination conditions hinder visual navigation. Indeed, radar can help estimation of platform speed and interframe platform displacement, thus solving also the inherent monocular VO scale estimation problem. Performance of radar-aided monocular VO navigation solution, to be used then within the framework of all-illumination multi-sensor navigation, is assessed with test in real operational scenario. Results show acceptable standalone performance, that can be further improved with more complex architectures.
Preliminary performance assessment of Radar-aided monocular Visual Odometry for small aerial platforms / Scannapieco, A. F.; Renga, A.; Graziano, M. D.; Fasano, G.. - (2019), pp. 278-283. (Intervento presentato al convegno 5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2019 tenutosi a Torino nel Giugno 2019) [10.1109/MetroAeroSpace.2019.8869646].
Preliminary performance assessment of Radar-aided monocular Visual Odometry for small aerial platforms
Scannapieco A. F.
;Renga A.;Graziano M. D.;Fasano G.
2019
Abstract
Monocular Visual Odometry (VO) is widely used for small aerial platforms navigation. However, environment conditions can limit the use of cameras. Radar Odometry (RO) can be envisaged when illumination conditions hinder visual navigation. Indeed, radar can help estimation of platform speed and interframe platform displacement, thus solving also the inherent monocular VO scale estimation problem. Performance of radar-aided monocular VO navigation solution, to be used then within the framework of all-illumination multi-sensor navigation, is assessed with test in real operational scenario. Results show acceptable standalone performance, that can be further improved with more complex architectures.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.