Vision/INS/対地高度計を用いた自律ドローンの屋内ナビゲーションに関する研究

抄録

Currently, various researches are being conducted on self-position estimation methods in indoor environments. As a previous research, there is a self-position estimation method that combines an IMU (Inertial Measurement Unit), a monocular camera, and a ground altimeter with an Extended Kalman Filter (EKF). However, in the previous research, the sensor data of the ground altimeter was used as the observed value in the altitude direction, and it is easily affected by the change of topography. In this study, we propose a more robust estimation method for step topography, mainly by adding improvements related to altimeter processing. In addition, ORBSLAM3 is used as the monocular SLAM, and Gazebo, the physics simulator, is used in the experiment.