視覚慣性オドメトリ法の検証およびドローンの自己位置推定実験

抄録

This paper presents a position estimation system for a drone to utilize visual inertial odometry method instead of GPS. Firstly, the usefulness of the visual inertial odometry method was verified through experiments of position estimation using VI-Camera and a laptop computer. In addition, based on the verification results, a drone system using VI-Camera and a Stick PC embedded with the position estimation system was developed and its capability was evaluated by comparing the estimated results with the actual positions. Finally, a ground computer connected to the drone with Wi-Fi communication was tested for improving computation efficiency and precision of position estimation.