(Georgia Institute of Technology, 2012-07)
Beall, Chris; Ta, Duy-Nguyen; Ok, Kyel; Dellaert, Frank
In this paper we present a novel vision-aided attitude
heading reference system for micro aerial vehicles (MAVs) and
other mobile platforms, which does not rely on known landmark
locations or full 3D map estimation as is common in the literature.
Inertial sensors which are commonly found on MAVs suffer
from additive biases and noise, and yaw error will grow without
bounds. The bearing-only measurements, which we call vistas, aid
the vehicle’s heading estimate and allow for long-term operation
while correcting for sensor drift. Our method is experimentally
validated on a commercially available low-cost quadrotor MAV.