Optical-Aided Aircraft Navigation using Decoupled Visual SLAM with Range Sensor Augmentation

Andert, Franz; Ammann, Nikolaus; Krause, Stefan; Lorenz, Sven; Bratanov, Dmitry; Mejias, Luís

doi:10.1007/s10846-016-0457-6

Cited by 13 publications

(5 citation statements)

References 33 publications

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“…Starting in 2005 (27 publications) the number of publications per year increased almost continuously to 163 publications in 2018. During this period, new fields of research such as the updating of construction sites (Yu et al 2018), BIM models (Khodeir und Nessim 2018), approaches from robotics (Zhang et al 2017) and localization and mapping (SLAM) approaches (Andert et al 2017) have been established, which have significantly increased the number of publications. This is followed by an examination of the citation network (Fig.…”

Section: Fig 6: Documents By Year About Updating Approaches Of Digita...mentioning

confidence: 99%

Update approaches and methods for digital building models – literature review

Hellmuth¹

2022

ITcon

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A combination of systematic and bibliometric literature review is applied. For bibliometric analysis a citation network analysis, keyword cluster analysis, burst detection analysis and the total citation score are evaluated. So far, literature mainly deals with creation of digital building models. However, in the operational phase of a building, updating digital building models is essential in order to use the digital building models for applications like maintenance, facility management and conversion planning. In this paper approaches and methods to update digital building data are examined systematically to reflect the current state of scientific knowledge. This will identify and compare update approaches for digital building models. Nine interrelated research areas can be identified that deal with updating digital building information. Based on the body of knowledge on the topic "Updating of digital building models", research gaps and poorly represented research areas are identified. One gap in research is the use of photogrammetry to update individual buildings during their operational phase. In addition to strong research areas such as geoscience, which has produced update approaches over the years, areas like factory planning have been identified which hardly consider approaches to updating as-built data. Only the most important and largest research areas involved have been considered. A more detailed examination would be possible, but would go beyond the scope of this paper. This paper is the first to analyse updating approaches in a detailed, systematic, and bibliographic manner. The holistic view of the topic of updating approaches of digital building models helps to get an overview of existing approaches. Especially because in building operation up-to-date digital plan documents of the building are increasingly needed, this overview is necessary.

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Section: Fig 6: Documents By Year About Updating Approaches Of Digita...mentioning

confidence: 99%

Update approaches and methods for digital building models – literature review

Hellmuth¹

2022

ITcon

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“…The issue can be circumvented by placing the monitor at a point where it can access all data necessary for the monitoring process non-intrusively. In the case of the superARTIS, the logger interface provides such a place as it compiled the data of all position-related sensors as well as the output of the position estimation [ 3 , 4 ]. Figure 4 outlines the relevant data lines of the aircraft.…”

Section: Setupmentioning

confidence: 99%

RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft

Baumeister

Finkbeiner

Schirmer

et al. 2020

Lecture Notes in Computer Science

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The autonomous control of unmanned aircraft is a highly safety-critical domain with great economic potential in a wide range of application areas, including logistics, agriculture, civil engineering, and disaster recovery. We report on the development of a dynamic monitoring framework for the DLR ARTIS (Autonomous Rotorcraft Testbed for Intelligent Systems) family of unmanned aircraft based on the formal specification language RTLola. RTLola is a stream-based specification language for real-time properties. An RTLola specification of hazardous situations and system failures is statically analyzed in terms of consistency and resource usage and then automatically translated into an FPGA-based monitor. Our approach leads to highly efficient, parallelized monitors with formal guarantees on the noninterference of the monitor with the normal operation of the autonomous system.

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“…The low rate UKF estimates the error of the strap-down algorithm and corrects the propagated navigation solution based on the absolute position measurements from the other modules, the absolute attitude from the star tracker, and the altitude above the lunar surface measured by the altimeter. Additionally, the tracked image features are used in a visual SLAM algorithm [2,3] to provide further position updates to the Navigation Filter.…”

Section: Navigation Filtermentioning

confidence: 99%

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

et al. 2018

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Since 2010 the German Aerospace Center (DLR) is working on the project ATON (Autonomous Terrain-based Optical Navigation). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup-which is applicable to many exploration missions-consists of an inertial measurement unit (IMU), a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation where images were generated by real cameras in a simulated downscaled lunar landing scene. Data was recorded

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Optical-Aided Aircraft Navigation using Decoupled Visual SLAM with Range Sensor Augmentation

Cited by 13 publications

References 33 publications

Update approaches and methods for digital building models – literature review

Update approaches and methods for digital building models – literature review

RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

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