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Real-time smart and standalone vision/IMU navigation sensor

Chermak, L., Aouf, N. ORCID: 0000-0001-9291-4077, Richardson, M. and Visentin, G. (2016). Real-time smart and standalone vision/IMU navigation sensor. Journal of Real-Time Image Processing, doi: 10.1007/s11554-016-0613-z

Abstract

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. High-resolution stereo images of 1.2 megapixel provide high-quality 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. 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.

Publication Type: Article
Publisher Keywords: Real time, Smart multi-platform, Navigation system, Stereo visual odometry, IMU-assisted feature tracking
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: School of Mathematics, Computer Science & Engineering > Engineering > Electrical & Electronic Engineering
URI: http://openaccess.city.ac.uk/id/eprint/22085
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