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1、2015IEEEInternationalConferenceonRoboticsandAutomation(ICRA)WashingtonStateConventionCenterSeattle,Washington,May26-30,2015Tightly-CoupledMonocularVisual-InertialFusionforAutonomousFlightofRotorcraftMAVsShaojieShen,NathanMichael,andVijayKumarAbstract—Therehavebe
2、enincreasinginterestsintheroboticscommunityinbuildingsmallerandmoreagileau-tonomousmicroaerialvehicles(MAVs).Inparticular,themonocularvisual-inertialsystem(VINS)thatconsistsofonlyacameraandaninertialmeasurementunit(IMU)formsagreatminimumsensorsuiteduetoitssuperi
3、orsize,weight,andpower(SWaP)characteristics.Inthispaper,wepresentatightly-couplednonlinearoptimization-basedmonocularVINSestimatorforautonomousrotorcraftMAVs.OurestimatorallowstheMAVtoexecutetrajectoriesat2m/swithrollandpitchanglesupto30degrees.Wepresentextensiv
4、estatisticalFig.1.OurquadrotorexperimentalplatformequippedwithanIntelNUCanalysistoverifytheperformanceofourapproachindifferentcomputer,aMEMSIMU,andacamera.environmentswithvaryingflightspeeds.I.INTRODUCTIONSensor-equippedmicroaerialvehicles(MAVs)withau-environment
5、swithstatisticalanalysisofestimatorandflighttonomousflightcapabilityareidealplatformsformissionsperformance.incomplexandconfinedenvironmentsduetoitssmallsize,Tothebestofourknowledge,wearethefirsttodemon-superiormobility,andminimumoperatorworkload.Whilestrateautonomo
6、usflightwithamonocularVINSsensorsuiteitisobviousthatreducingthesizeoftheMAVwillmakeusingatightly-coupledfusionapproach.Weareabletoitmoresuitableforoperationsinconfinedenvironments,itachieveautonomoustrackingofhighlydynamicaltrajectoriesalsoposestighterSWaPconstrai
7、ns.Asthesizescalesdown,withamaximumvelocityof2m/sandmaximumroll/pitchamonocularvisual-inertialsystem(VINS)thatconsistsofanglescloseto30degrees.Statisticalanalysis(Sect.VI)acameraandalowcostIMUbecomestheonlyviablesuggestsgoodperformancewithdifferentspeedsandinset
8、upduetoitsultralightweightandsmallfootprint.Indifferentenvironments.fact,monocularVINSistheminimumsensorsuitethatNext,wediscussliteraturesinsimilarfieldsinSect.II.Inal
