Journals Articles Conferences News About CLP
Submit a paper Email Alert
Search
Search
Articles
Journals
News
Advanced Search
Top Searches
2D MaterialsTransformation opticsQuantum PhotonicsSmall lasersSemiconductor UV PhotonicsSupersymmetric microring laser arrays

Acta Optica Sinica, Volume. 38, Issue 7, 0715004(2018)

Quadrotor Autonomous Flight and Three-Dimensional Dense Reconstruction Based on VI-SLAM

Huican Lin1, Qiang Lü1、*, Heng Wei1, Yang Wang1, and Bing Liang1
Author Affiliations
  • 1 94891 Troop, Beijing 100076, China
  • 1 Department of Weapon and Control, Academy of Army Armored Force, Beijing 100072, China
  • 1 School of Information Engineering, Jiangxi University of Science and Technology, Ganzhou, Jiangxi 341000, China
    • show less
    AbstractGet PDF(in Chinese)
    Figures&Tables (8)
    Equations (0)
    References (23)
    Cited By (4)
    Tools
    Paper Information
    Topics
    Figures & Tables(8)
    Fusion framework of VSLAM and IMU

    Fig. 1. Fusion framework of VSLAM and IMU

    Download full size
    System framework

    Fig. 2. System framework

    Download full size
    Quadrotor micro aerial vehicle platform

    Fig. 3. Quadrotor micro aerial vehicle platform

    Download full size
    Comparison of absolute trajectory error

    Fig. 4. Comparison of absolute trajectory error

    Download full size
    Trajectory in the process of autonomous take-off and hover. (a) x axis; (b) y axis; (c) z axis; (d) x-y plane

    Fig. 5. Trajectory in the process of autonomous take-off and hover. (a) x axis; (b) y axis; (c) z axis; (d) x-y plane

    Download full size
    Three-dimensional trajectory of autonomous take-off and hover

    Fig. 6. Three-dimensional trajectory of autonomous take-off and hover

    Download full size
    Three-dimensional dense reconstruction. (a) Reconstruction of V101 data sequence; (b) reconstruction of V102 data sequence;(c) reconstruction of V201 data sequence; (d) reconstruction of MH01 data sequence; (e) reconstruction of real environment

    Fig. 7. Three-dimensional dense reconstruction. (a) Reconstruction of V101 data sequence; (b) reconstruction of V102 data sequence;(c) reconstruction of V201 data sequence; (d) reconstruction of MH01 data sequence; (e) reconstruction of real environment

    Download full size

    • Table 1. Comparison between the traditional and proposed fusion frameworkm

      View table

      Table 1. Comparison between the traditional and proposed fusion frameworkm

      SequenceMethodRMSEMeanMedianStdMinMax
      Traditional0.2236640.1933200.1877480.1124860.0195272.504566
      MH01Proposed0.1825760.1609510.1295640.0861910.0317300.596140
      Traditional0.1226480.1124080.1029430.0490610.0041270.510390
      V101Proposed0.0907010.0844220.0784400.0331600.0185620.312477
    Tools

    Get Citation

    Copy Citation Text

    Huican Lin, Qiang Lü, Heng Wei, Yang Wang, Bing Liang. Quadrotor Autonomous Flight and Three-Dimensional Dense Reconstruction Based on VI-SLAM[J]. Acta Optica Sinica, 2018, 38(7): 0715004

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Set citation alerts for article
    Save article for my favorites
    Paper Information

    Category: Machine Vision

    Received: Jan. 15, 2018

    Accepted: --

    Published Online: Sep. 5, 2018

    The Author Email:

    DOI:10.3788/AOS201838.0715004

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology