VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

11/08/2020
by   Ziming Ding, et al.
0

Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the 6 degree-of-freedom (DoF) pose since it is of vital importance for planning and control of the vehicle. To this end, we propose a tightly-coupled Visual-Inertial-Dynamics (VID) system that simultaneously estimates the external force applied to the quadrotor along with the 6 DoF pose. Our method builds on the state-of-the-art optimization-based Visual-Inertial system, with a novel deduction of the dynamics and external force factor extended from VIMO. Utilizing the proposed dynamics and external force factor, our estimator robustly and accurately estimates the external force even when it varies widely. Moreover, since we explicitly consider the influence of the external force, when compared with VIMO and VINS-Mono, our method shows comparable and superior pose accuracy, even when the external force ranges from neglectable to significant. The robustness and effectiveness of the proposed method are validated by extensive real-world experiments and application scenario simulation. We will release an open-source package of this method along with datasets with ground truth force measurements for the reference of the community.

READ FULL TEXT
03/20/2021

The Visual-Inertial-Dynamical UAV Dataset

Recently, the community has witnessed numerous datasets built for develo...
02/24/2021

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping

In this letter, we propose a robust, real-time tightly-coupled multi-sen...
03/09/2020

Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry

Motivated by the goal of achieving robust, drift-free pose estimation in...
07/28/2020

Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth

The recently introduced matrix group SE2(3) provides a 5x5 matrix repres...
08/30/2019

Contact Inertial Odometry: Collisions are your Friend

Autonomous exploration of unknown environments with aerial vehicles rema...
10/18/2021

Electric Vehicle Automatic Charging System Based on Vision-force Fusion

Electric vehicles are an emerging means of transportation with environme...
07/14/2022

An Empirical Evaluation of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems

Commercial visual-inertial odometry (VIO) systems have been gaining atte...