Invention Grant
- Patent Title: State estimation for aerial vehicles using multi-sensor fusion
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Application No.: US15664073Application Date: 2017-07-31
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Publication No.: US10295365B2Publication Date: 2019-05-21
- Inventor: Sebastian Scherer , Song Yu , Stephen Nuske
- Applicant: CARNEGIE MELLON UNIVERSITY
- Applicant Address: US PA Pittsburgh
- Assignee: CARNEGIE MELLON UNIVERSITY
- Current Assignee: CARNEGIE MELLON UNIVERSITY
- Current Assignee Address: US PA Pittsburgh
- Main IPC: G01C23/00
- IPC: G01C23/00 ; G01C21/16 ; G06T7/73 ; G06T7/246 ; G06T7/285 ; G06T7/292 ; G01C5/06 ; G01S19/53 ; G01S19/48 ; G06T7/579 ; G06T7/593 ; G06T7/277 ; G01S19/40 ; B64C39/02 ; H04N13/282 ; H04N13/239

Abstract:
A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update.
Public/Granted literature
- US20180031387A1 STATE ESTIMATION FOR AERIAL VEHICLES USING MULTI-SENSOR FUSION Public/Granted day:2018-02-01
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