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Vision-aided inertial navigation for power line inspection

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5 Author(s)
Tardif, J.-P. ; Nat. Robot. Eng. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA ; George, M. ; Laverne, M. ; Kelly, A.
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We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.

Published in:

Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on

Date of Conference:

5-7 Oct. 2010