Structure priors aided visual-inertial navigation in building inspection tasks with auxiliary line features
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...
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Main Authors: | Lyu, Yang, Yuan, Shenghai, Xie, Lihua |
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Other Authors: | School of Electrical and Electronic Engineering |
Format: | Article |
Language: | English |
Published: |
2022
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Subjects: | |
Online Access: | https://hdl.handle.net/10356/163765 |
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Institution: | Nanyang Technological University |
Language: | English |
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