ERROR ANALYSIS OF VISUAL ODOMETRY FOR A SMALL SIZE UNMANNED AERIAL VEHICLE

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dc.contributor.authorBettemir, Onder Halis
dc.date.accessioned2024-08-04T20:55:10Z
dc.date.available2024-08-04T20:55:10Z
dc.date.issued2024
dc.departmentİnönü Üniversitesien_US
dc.description8th International Conference on GeoInformation Advances (GeoAdvances) -- JAN 11-12, 2024 -- Istanbul, TURKEYen_US
dc.description.abstractUsage of small size Unmanned Aerial Vehicle (UAV) with autonomous flight capability became widespread at both civil and military applications because of its low costs and ease of use. However, inertial or GPS based positioning and orientation sensors can be disabled at battlefields and the UAV losses its path in a short time. Visual odometry becomes a solution for the aforementioned hassle. Real-time detection of ground control points, matching the same control points at the stereo pair images and correcting the position and orientation data with least square adjustment are the challenges of visual odometry. In this study, error analysis of position and orientation of a UAV flying through mountainous region which cannot obtain any augmenting data for position and orientation is conducted by error propagation law. The flight of UAV is simulated with exact initial position and orientation data. Optic images of ground obtained by nadir directed camera are georeferenced using the digital elevation model of the region, interior and exterior camera parameters. The digital elevation model is used to correct the relief displacement. The stereo-pair image is obtained when the UAV flies 200 m and image coordinates of the common control points are detected by colinearity equations. Position and orientation of UAV is corrected by least square adjustment and the process is repeated for each obtained image acquired at 200 m interval. The analysis revealed that the precisions of horizontal and vertical positioning becomes 75 and 200 meter, respectively. The precision of roll angle becomes worse than 0.5 degree, while the precisions of pitch and yaw angle are estimate to be better that 0.1 degree.en_US
dc.identifier.doi10.5194/isprs-archives-XLVIII-4-W9-2024-83-2024
dc.identifier.endpage90en_US
dc.identifier.issn1682-1750
dc.identifier.issn2194-9034
dc.identifier.scopus2-s2.0-85187782380en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage83en_US
dc.identifier.urihttps://doi.org/10.5194/isprs-archives-XLVIII-4-W9-2024-83-2024
dc.identifier.urihttps://hdl.handle.net/11616/101880
dc.identifier.wosWOS:001234953400012en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherCopernicus Gesellschaft Mbhen_US
dc.relation.ispartof8th International Conference on Geoinformation Advances, Geoadvances 2024, Vol. 48-4en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectUnmanned Aerial Vehicleen_US
dc.subjectGeoreferencingen_US
dc.subjectAccuracyen_US
dc.subjectError Propagation Lawen_US
dc.subjectVisual Odometryen_US
dc.titleERROR ANALYSIS OF VISUAL ODOMETRY FOR A SMALL SIZE UNMANNED AERIAL VEHICLEen_US
dc.typeConference Objecten_US

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