Real-time smart and standalone vision/IMU navigation sensor

Lounis Chermak, Nabil Aouf, Mark Richardson, Gianfranco Visentin
2016 Journal of Real-Time Image Processing  
In this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation. The real-time visual odometry algorithm is run on a nano ITX single-board computer (SBC) of 1.9 GHz CPU and 16-core GPU. Highresolution stereo images of 1.2 megapixel provide highquality data. Tracking of up to 750 features is made possible at 5 fps thanks to a minimal, but efficient, features detection-stereo matching-feature tracking scheme runs on the GPU.
more » ... Furthermore, the feature tracking algorithm benefits from assistance of a 100 Hz IMU whose accelerometer and gyroscope data provide inertial features prediction enhancing execution speed and tracking efficiency. In a space mission context, we demonstrate robustness and accuracy of the real-time generated 6-degrees-of-freedom trajectories from our visual odometry algorithm. Performance evaluations are comparable to ground truth measurements from an external motion capture system.
doi:10.1007/s11554-016-0613-z fatcat:sbgpqf4thracriz5hj5dlnssca