Ground Vehicle Navigation with Depth Camera and Tracking Camera

Abstract

The aim of this research is to provide autonomous navigation of a 4 wheel vehicle using commercial, oxB;-the-shelf depth and tracking cameras. Some sensitive operations need accuracy within a few inches of navigation ability for indoor or outdoor scenarios where GPS signals are not available. Combination of the Visual Odometry(VO), Distance-Depth(D-D), and Object Detection data from the cameras can be used for accurate navigation and object avoidance. The Intel RealSense D435i, a depth camera, generates depth measurements and the relative position vector of an object. The Intel RealSense T265, a tracking camera, generates its own coordinate system and grabs coordinate goals. Both of them can generate Simultaneous Localization and Mapping (SLAM) data. The cameras share their data to provide a more robust capability. Combining the Intel cameras with a Pixhawk autopilot, it was demonstrated that the vehicle can follow a desired path and avoid objects along that path.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2022
Accession Number
AD1173775

Entities

People

  • Kim Hongseok

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Accuracy
  • Air Force
  • Automatic Pilots
  • Autonomous Navigation
  • Cameras
  • Cartography
  • Collision Avoidance
  • Coordinate Systems
  • Department Of Defense
  • Detection
  • Engineering
  • Ground Vehicles
  • Guidance
  • Inertial Measurement Units
  • Measurement
  • Navigation
  • Simultaneous Localization And Mapping
  • Three Dimensional
  • Tracking Cameras
  • United States Government
  • World Geodetic System

Readers

  • Image Processing and Computer Vision.
  • Inertial Navigation Systems.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers