Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS
Abstract In this paper, the fusion localization system for the visual inertial odometry (VIO) and ultrasonic real-time localization system (RTLS) for indoor airplane inspection using drones is proposed. In a hangar environment, either trilateration-based RTLS or vision-based localization shows disad...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2023-10-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-023-43425-y |
| Summary: | Abstract In this paper, the fusion localization system for the visual inertial odometry (VIO) and ultrasonic real-time localization system (RTLS) for indoor airplane inspection using drones is proposed. In a hangar environment, either trilateration-based RTLS or vision-based localization shows disadvantages and neither can be used alone. In this research, we design a configuration of VIO suitable for hangar environment and outlier filter on ultrasonic RTLS for non-line of sight situations, so that both can be fused using graph optimization. The proposed solution can provide more accurate localization than the visual odometry-only system as well as continue estimating positions in the absence of RTLS data. Localization and real-time performance of the proposed algorithm are evaluated through experimentation in a hangar and a flight test in an outdoor space. |
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| ISSN: | 2045-2322 |