南京航空航天大学学报（英文版）2026，Vol.43Issue(4)：546-559,14.DOI:10.16356/j.1005-1120.2026.04.005
单向结构信息辅助的无人机视觉惯性里程计
Structure Information Aided Visual/Inertial Odometry of UAVs for Unidirectional Structural Environment
摘要
Abstract
The integrated utility system is indispensable for maintaining urban stability and services.Regular unmanned aerial vehicles(UAVs)inspections of these facilities are critical for ensuring operational urban systems.Such scenarios,characterized by spatially confined layouts and unidirectional extension,are defined as unidirectional structural(UDS)environment.Given the sparse textural features inherent and darker light to UDS environment,conventional methods fail to ensure safe UAV navigation.Therefore,this paper proposes a structure-assisted visual-inertial odometry algorithm for UAVs in dark UDS environment.The approach enhances the accuracy of camera feature extraction through an adaptive median filtering and BM 3D(AMF-BM3D)denoising method,and incorporates an inertial fault-tolerant vanishing point technique to achieve high-precision,cumulative-error-free UAV yaw estimation,while utilizing gravity constraints to eliminate cumulative errors in roll and pitch angles.Finally,the extended Kalman filter(EKF)fuses pose data from conventional visual-inertial odometry(VIO)to obtain refined pose estimation.Experimental validation in UDS environment demonstrates that compared to traditional VIO,the algorithm proposed significantly enhances the accuracy of pose estimation and the safety of UAV flight in the UDS environment.关键词
结构信息/视觉惯性里程计/扩展卡尔曼滤波Key words
structure information/visual-inertial odometry(VIO)/extended kalman filter(EKF)分类
航空航天引用本文复制引用
谢盛弘,温烨贝,王洪枫,黄郑,季田阳,袁诚,吕品..单向结构信息辅助的无人机视觉惯性里程计[J].南京航空航天大学学报（英文版）,2026,43(4):546-559,14.基金项目
This work was supported by the Basic Research Program of Jiangsu Province(No.BK20250175)and the National Natural Science Foundation of China(No.62273178). （No.BK20250175）
