Real-Time Monocular SLAM System Using an Inertial Measurement Unit to Estimate the Metric Scale and Gravity Direction

Sammanfattning: In this work a simultaneous localisation and mapping system, SLAM, has been constructed which can incorporate inertial measurement unit, IMU, data such as accelerometer and gyroscope data to estimate the metric scale and the relationship to the gravity vector of the SLAM solution. The system can perform accurate pose predictions at 100Hz based on IMU data and previous camera poses. An improved KLT-tracker has been devised that is less sensitive to rotations and which exploits predicted camera poses to limit the search region of features in a new image. The resulting system is lightweight enough to be able to be run on a Raspberry Pi 3. An UAV has also been constructed using 3D printing and CNC circuit milling to create the electronics. In addition to this, control algorithms for the UAV have been created.