AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry
This research enables real-time object-relative navigation using only an IMU and an RGB camera, ideal for payload-constrained robots. It employs a deep learning-based object pose estimator trained solely on synthetic data and optimized for companion board deployment. By fusing object-relative pose measurements with IMU data, the system achieves precise localization for tasks like power pole inspection. Real-world experiments validate its performance, with an example flight shown in the supplementary video.
Citation
@article{Jantos2024,
title = {AIVIO: Closed-Loop, Object-Relative Navigation of UAVs With AI-Aided Visual Inertial Odometry},
volume = {9},
ISSN = {2377-3774},
url = {http://dx.doi.org/10.1109/LRA.2024.3479713},
DOI = {10.1109/lra.2024.3479713},
number = {12},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
author = {Jantos, Thomas and Scheiber, Martin and Brommer, Christian and Allak, Eren and Weiss, Stephan and Steinbrener, Jan},
year = {2024},
month = Dec,
pages = {10764–10771}
}