Remove rotational information generated my MAV
Opened this issue · 2 comments
It influences the optical flow with 'false' information, this needs to be counteracted.
A very promising approach is found in B. Depth Estimation in Straight Flight:
@inproceedings{zingg2010mav,
title={MAV navigation through indoor corridors using optical flow},
author={Zingg, Simon and Scaramuzza, Davide and Weiss, Stephan and Siegwart, Roland},
booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on},
pages={3361--3368},
year={2010},
organization={IEEE}
}
Notice, howerver, that the authors state that:
If the IMU data are noisy, and therefore not precise enough, the
compensation for rotational effects cannot work properly and
produces wrong results.
Especially, inaccurate information
of the yaw angle can cause wrong sideways depth estimations,
since its effect is a decrease of the optical flow
magnitude on one side of the MAV and an increase of the
optical flow on the other side.
Note that the IMU information sould be collected after kalman filtering, e.g. 1 writes:
a video camera and an Inertial and Attitude Measurement Unit (IAMU) supposedly
equipped with Kalman-filtered accelerometers, gyrometers and magnetometers
title={A contribution to vision-based autonomous helicopter flight in urban environments},
author={Muratet, Laurent and Doncieux, Stephane and Briere, Yves and Meyer, Jean-Arcady},
journal={Robotics and Autonomous Systems},
volume={50},
number={4},
pages={195--209},
year={2005},
publisher={Elsevier}
}
The gimbal already takes care of rotation compensation, no need to add it additionally.
The overall process could still be mentioned in the thesis though.