An overview of our proposed localization method.
Abstract:
Unmanned Aerial Vehicles (UAVs) can significantly improve the autonomy of the mining industry, and self-localization is the key to autonomous flights of underground UAVs....Show MoreMetadata
Abstract:
Unmanned Aerial Vehicles (UAVs) can significantly improve the autonomy of the mining industry, and self-localization is the key to autonomous flights of underground UAVs. A localization method of visual-inertial sensor data fusion is proposed in this paper. The method aims to improve the localization accuracy and robustness of underground UAVs in dynamic environments. First, an algorithm for dynamic point detection and rejection is presented, which combines a semantic segmentation neural network, an optical flow method, and an epipolar constraint method. Second, a visual-inertial sensor fusion algorithm is used to enhance performance in areas lacking static visual features. It can also provide absolute scales to the localization results, as opposed to monocular systems. Finally, a hand-held multi-sensor data collection system is developed with accurate calibration, for imitating flights of underground UAVs and easing data collection in real underground tunnels. We evaluate our proposed localization method and compare it with state-of-art method VINS-Mono on both the public EuRoC dataset and our own collected data in underground tunnels. Experimental results show that the proposed visual-inertial localization method can improve the accuracy by more than 67% over VINS-Mono in high dynamic environments, and it can be applied to underground dynamic scenes with high robustness and accuracy.
An overview of our proposed localization method.
Published in: IEEE Access ( Volume: 8)
Funding Agency:
School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China
Dongjiang Li (Graduate Student Member, IEEE) received the B.E. degree in measurement and control technology and instrumentation program from Xiangtan University, Xiangtan, Hunan, China, in 2014, and the M.S. degree in control science and engineering from Beijing Jiaotong University, Beijing, China, in 2017, where he is currently pursuing the Ph.D. degree in communication and information system. His research interests incl...Show More
Dongjiang Li (Graduate Student Member, IEEE) received the B.E. degree in measurement and control technology and instrumentation program from Xiangtan University, Xiangtan, Hunan, China, in 2014, and the M.S. degree in control science and engineering from Beijing Jiaotong University, Beijing, China, in 2017, where he is currently pursuing the Ph.D. degree in communication and information system. His research interests incl...View more
School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China
Wei Yang received the B.E. and M.E. degrees in electronical engineering from Liaoning Technical University, in 1986 and 1988, respectively, and the Ph.D. degree in electronical engineering from the China University of Mining and Technology, in 2000. From February 2000 to January 2002, he was a Postdoctoral Research Fellow with the National Mobile Communications Research Laboratory, Southeast University, Nanjing, China. Si...Show More
Wei Yang received the B.E. and M.E. degrees in electronical engineering from Liaoning Technical University, in 1986 and 1988, respectively, and the Ph.D. degree in electronical engineering from the China University of Mining and Technology, in 2000. From February 2000 to January 2002, he was a Postdoctoral Research Fellow with the National Mobile Communications Research Laboratory, Southeast University, Nanjing, China. Si...View more
Intel Labs, Beijing, China
Xuesong Shi (Member, IEEE) received the B.Sc. and Ph.D. degrees in electronic engineering from Fudan University, Shanghai, China, in 2009 and 2015, respectively. He is currently a Senior Research Scientist with Intel Labs, China. His current research focus is developing a real-time scene understanding system for autonomous systems, involving pose estimation, scene reconstruction, semantic mapping, and multisensor fusion. ...Show More
Xuesong Shi (Member, IEEE) received the B.Sc. and Ph.D. degrees in electronic engineering from Fudan University, Shanghai, China, in 2009 and 2015, respectively. He is currently a Senior Research Scientist with Intel Labs, China. His current research focus is developing a real-time scene understanding system for autonomous systems, involving pose estimation, scene reconstruction, semantic mapping, and multisensor fusion. ...View more
Department of Electronic Engineering, Tsinghua University, Beijing, China
International School, Beijing University of Posts and Telecommunications, Beijing, China
Dan Guo is currently pursuing the bachelor’s degree in telecommunication engineering and management with the Beijing University of Posts and Telecommunications, Beijing, China. Her research interests include semantic segmentation of computer vision, digital signal and image processing, and wireless communication networks.
Dan Guo is currently pursuing the bachelor’s degree in telecommunication engineering and management with the Beijing University of Posts and Telecommunications, Beijing, China. Her research interests include semantic segmentation of computer vision, digital signal and image processing, and wireless communication networks.View more
Department of Electronic Engineering, Tsinghua University, Beijing, China
School of Software Engineering, Beijing Jiaotong University, Beijing, China
Qiwei Long (Student Member, IEEE) is currently pursuing the B.E. degree in software engineering with Beijing Jiaotong University, Beijing, China. He is currently a Senior Student with the School of Software Engineering, Beijing Jiaotong University. His current research interest is simultaneous localization and mapping.
Qiwei Long (Student Member, IEEE) is currently pursuing the B.E. degree in software engineering with Beijing Jiaotong University, Beijing, China. He is currently a Senior Student with the School of Software Engineering, Beijing Jiaotong University. His current research interest is simultaneous localization and mapping.View more
Department of Electronic Engineering, Tsinghua University, Beijing, China
Fei Qiao (Member, IEEE) received the bachelor’s degree from Lanzhou University, China, in 2000, and the Ph.D. degree from Tsinghua University, China, in 2006. He is currently an Associate Professor with the Department of Electronic Engineering, Tsinghua University. He has authored around 90 articles and holds over 30 invented patents. His research interests include low power circuits design, and energy-efficient integrate...Show More
Fei Qiao (Member, IEEE) received the bachelor’s degree from Lanzhou University, China, in 2000, and the Ph.D. degree from Tsinghua University, China, in 2006. He is currently an Associate Professor with the Department of Electronic Engineering, Tsinghua University. He has authored around 90 articles and holds over 30 invented patents. His research interests include low power circuits design, and energy-efficient integrate...View more
Department of Precision Instrument, Tsinghua University, Beijing, China
Qi Wei (Member, IEEE) received the Ph.D. degree from Tsinghua University, Beijing, China, in 2010. He is currently an Assistant Professor with the Department of Electronic Engineering, Tsinghua University. His research interests are MEMS inertial sensors ASIC design and high-performance data converters.
Qi Wei (Member, IEEE) received the Ph.D. degree from Tsinghua University, Beijing, China, in 2010. He is currently an Assistant Professor with the Department of Electronic Engineering, Tsinghua University. His research interests are MEMS inertial sensors ASIC design and high-performance data converters.View more
Contents School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China
Dongjiang Li (Graduate Student Member, IEEE) received the B.E. degree in measurement and control technology and instrumentation program from Xiangtan University, Xiangtan, Hunan, China, in 2014, and the M.S. degree in control science and engineering from Beijing Jiaotong University, Beijing, China, in 2017, where he is currently pursuing the Ph.D. degree in communication and information system. His research interests include semantic computer vision, simultaneous localization, and mapping.
Dongjiang Li (Graduate Student Member, IEEE) received the B.E. degree in measurement and control technology and instrumentation program from Xiangtan University, Xiangtan, Hunan, China, in 2014, and the M.S. degree in control science and engineering from Beijing Jiaotong University, Beijing, China, in 2017, where he is currently pursuing the Ph.D. degree in communication and information system. His research interests include semantic computer vision, simultaneous localization, and mapping.View more
School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China
Wei Yang received the B.E. and M.E. degrees in electronical engineering from Liaoning Technical University, in 1986 and 1988, respectively, and the Ph.D. degree in electronical engineering from the China University of Mining and Technology, in 2000. From February 2000 to January 2002, he was a Postdoctoral Research Fellow with the National Mobile Communications Research Laboratory, Southeast University, Nanjing, China. Since February 2002, he has been with Beijing Jiaotong University, China, where he is currently a Professor with the School of Electronics and Information Engineering. His main research interests include digital communication systems, semantic computer vision, simultaneous localization, and mapping.
Wei Yang received the B.E. and M.E. degrees in electronical engineering from Liaoning Technical University, in 1986 and 1988, respectively, and the Ph.D. degree in electronical engineering from the China University of Mining and Technology, in 2000. From February 2000 to January 2002, he was a Postdoctoral Research Fellow with the National Mobile Communications Research Laboratory, Southeast University, Nanjing, China. Since February 2002, he has been with Beijing Jiaotong University, China, where he is currently a Professor with the School of Electronics and Information Engineering. His main research interests include digital communication systems, semantic computer vision, simultaneous localization, and mapping.View more
Intel Labs, Beijing, China
Xuesong Shi (Member, IEEE) received the B.Sc. and Ph.D. degrees in electronic engineering from Fudan University, Shanghai, China, in 2009 and 2015, respectively. He is currently a Senior Research Scientist with Intel Labs, China. His current research focus is developing a real-time scene understanding system for autonomous systems, involving pose estimation, scene reconstruction, semantic mapping, and multisensor fusion. He has publications in the areas of signal processing and robotics and holds six patent applications. He is an Organizer of IROS 2019 Lifelong Robotic Vision Challenge.
Xuesong Shi (Member, IEEE) received the B.Sc. and Ph.D. degrees in electronic engineering from Fudan University, Shanghai, China, in 2009 and 2015, respectively. He is currently a Senior Research Scientist with Intel Labs, China. His current research focus is developing a real-time scene understanding system for autonomous systems, involving pose estimation, scene reconstruction, semantic mapping, and multisensor fusion. He has publications in the areas of signal processing and robotics and holds six patent applications. He is an Organizer of IROS 2019 Lifelong Robotic Vision Challenge.View more
Department of Electronic Engineering, Tsinghua University, Beijing, China
International School, Beijing University of Posts and Telecommunications, Beijing, China
Dan Guo is currently pursuing the bachelor’s degree in telecommunication engineering and management with the Beijing University of Posts and Telecommunications, Beijing, China. Her research interests include semantic segmentation of computer vision, digital signal and image processing, and wireless communication networks.
Dan Guo is currently pursuing the bachelor’s degree in telecommunication engineering and management with the Beijing University of Posts and Telecommunications, Beijing, China. Her research interests include semantic segmentation of computer vision, digital signal and image processing, and wireless communication networks.View more
Department of Electronic Engineering, Tsinghua University, Beijing, China
School of Software Engineering, Beijing Jiaotong University, Beijing, China
Qiwei Long (Student Member, IEEE) is currently pursuing the B.E. degree in software engineering with Beijing Jiaotong University, Beijing, China. He is currently a Senior Student with the School of Software Engineering, Beijing Jiaotong University. His current research interest is simultaneous localization and mapping.
Qiwei Long (Student Member, IEEE) is currently pursuing the B.E. degree in software engineering with Beijing Jiaotong University, Beijing, China. He is currently a Senior Student with the School of Software Engineering, Beijing Jiaotong University. His current research interest is simultaneous localization and mapping.View more
Department of Electronic Engineering, Tsinghua University, Beijing, China
Fei Qiao (Member, IEEE) received the bachelor’s degree from Lanzhou University, China, in 2000, and the Ph.D. degree from Tsinghua University, China, in 2006. He is currently an Associate Professor with the Department of Electronic Engineering, Tsinghua University. He has authored around 90 articles and holds over 30 invented patents. His research interests include low power circuits design, and energy-efficient integrated perception circuits and systems for intelligent robots, and wearables and the Internet of Things (IoT) devices.
Fei Qiao (Member, IEEE) received the bachelor’s degree from Lanzhou University, China, in 2000, and the Ph.D. degree from Tsinghua University, China, in 2006. He is currently an Associate Professor with the Department of Electronic Engineering, Tsinghua University. He has authored around 90 articles and holds over 30 invented patents. His research interests include low power circuits design, and energy-efficient integrated perception circuits and systems for intelligent robots, and wearables and the Internet of Things (IoT) devices.View more
Department of Precision Instrument, Tsinghua University, Beijing, China
Qi Wei (Member, IEEE) received the Ph.D. degree from Tsinghua University, Beijing, China, in 2010. He is currently an Assistant Professor with the Department of Electronic Engineering, Tsinghua University. His research interests are MEMS inertial sensors ASIC design and high-performance data converters.
Qi Wei (Member, IEEE) received the Ph.D. degree from Tsinghua University, Beijing, China, in 2010. He is currently an Assistant Professor with the Department of Electronic Engineering, Tsinghua University. His research interests are MEMS inertial sensors ASIC design and high-performance data converters.View more