Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera

Real-time and reliable localization is a prerequisite for autonomously performing high-level tasks with micro aerial vehicles(MAVs). Nowadays, most existing methods use vision system for 6DoF pose estimation, which can not work in degraded visual environments. This paper presents an onboard 6DoF pose estimation method for an indoor MAV in challenging GPS-denied degraded visual environments by using a RGB-D camera. In our system, depth images are mainly used for odometry estimation and localization. First, a fast and robust relative pose estimation (6DoF Odometry) method is proposed, which uses the range rate constraint equation and photometric error metric to get the frame-to-frame transform. Then, an absolute pose estimation (6DoF Localization) method is proposed to locate the MAV in a given 3D global map by using a particle filter. The whole localization system can run in real-time on an embedded computer with low CPU usage. We demonstrate the effectiveness of our system in extensive real environments on a customized MAV platform. The experimental results show that our localization system can robustly and accurately locate the robot in various practical challenging environments.