Structure priors aided visual-inertial navigation in building inspection tasks with auxiliary line features

• Main Authors: Lyu, Yang, Yuan, Shenghai, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Inspection; Buildings
• Online Access: https://hdl.handle.net/10356/163765
• Institution: Nanyang Technological University

The article proposes a visual-inertial navigation method to support the autonomous operation of a quadrotor UAV during the building faade inspection tasks, where state-of-the-art vision-based localization methods may fail due to texture point feature insufficiency. Considering the appearance charact...