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Mono-vision corner SLAM for indoor navigation

Çelik, Koray and Chung, Soon-Jo and Somani, Arun (2008) Mono-vision corner SLAM for indoor navigation. In: IEEE International Conference on Electro/Information Technology, 2008. International Conference on Electro Information Technology. IEEE , Piscataway, NJ, pp. 343-348. ISBN 978-1-4244-2029-2. http://resolver.caltech.edu/CaltechAUTHORS:20161122-143023693

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Abstract

We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied manmade environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based path-finding through a conventional maze of corridors in a large building.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/EIT.2008.4554326DOIArticle
http://ieeexplore.ieee.org/document/4554326/PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2008 IEEE. Date of Conference: 18-20 May 2008. Date Added to IEEE Xplore: 27 June 2008.
Group:GALCIT
Record Number:CaltechAUTHORS:20161122-143023693
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161122-143023693
Official Citation:K. Celik, Soon-Jo Chung and A. Somani, "Mono-vision corner SLAM for indoor navigation," 2008 IEEE International Conference on Electro/Information Technology, Ames, IA, 2008, pp. 343-348. doi: 10.1109/EIT.2008.4554326
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72256
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:22 Nov 2016 22:40
Last Modified:04 Jan 2017 18:55

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