| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
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| Article Number | 04006 | |
| Number of page(s) | 8 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804006 | |
| Published online | 15 December 2023 | |
Reliability of visual inertial odometry on an unmanned aerial vehicle
Centre for Robotics and Future Production, Manufacturing Cluster, Council for Scientific and Industrial Research, South Africa
There is a need to ensure that an Unmanned Aerial Vehicle (UAV) can fly safely in indoor environments. In this paper, the visual-inertial odometry (VIO) implemented in a commercial UAV is tested to determine its reliability to keep its position in confined indoor spaces. The experimental results indicated that the UAV was able to track the subject from an average distance of 3915.23 mm in the y-direction, with RMSEx and RMSEy of 452.47 mm and 332.66 mm, respectively. This shows that the UAV can track objects in confined environments, such as the aisles of an indoor warehouse.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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