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: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2023-10-01
|
| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-023-43425-y |
| _version_ | 1797559683548971008 |
|---|---|
| author | Ingyoon Park Sangook Cho |
| author_facet | Ingyoon Park Sangook Cho |
| author_sort | Ingyoon Park |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T17:48:48Z |
| format | Article |
| id | doaj.art-59d014211076414796b7ac8a4b82e5fa |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-03-10T17:48:48Z |
| publishDate | 2023-10-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-59d014211076414796b7ac8a4b82e5fa2023-11-20T09:25:53ZengNature PortfolioScientific Reports2045-23222023-10-0113111310.1038/s41598-023-43425-yFusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLSIngyoon Park0Sangook Cho1Koreanair R&D CenterKoreanair R&D CenterAbstract 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.https://doi.org/10.1038/s41598-023-43425-y |
| spellingShingle | Ingyoon Park Sangook Cho Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS Scientific Reports |
| title | Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS |
| title_full | Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS |
| title_fullStr | Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS |
| title_full_unstemmed | Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS |
| title_short | Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS |
| title_sort | fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic rtls |
| url | https://doi.org/10.1038/s41598-023-43425-y |
| work_keys_str_mv | AT ingyoonpark fusionlocalizationforindoorairplaneinspectionusingvisualinertialodometryandultrasonicrtls AT sangookcho fusionlocalizationforindoorairplaneinspectionusingvisualinertialodometryandultrasonicrtls |