CaltechAUTHORS
  A Caltech Library Service

Monocular Vision SLAM for Indoor Aerial Vehicles

Çelik, Koray and Chung, Soon-Jo and Clausman, Matthew and Somani, Arun K. (2009) Monocular Vision SLAM for Indoor Aerial Vehicles. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IEEE , Piscataway, NJ, pp. 1566-1573. ISBN 978-1-4244-3803-7. http://resolver.caltech.edu/CaltechAUTHORS:20161122-144014712

[img] PDF - Published Version
See Usage Policy.

1709Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20161122-144014712

Abstract

This paper presents a novel indoor navigation and ranging strategy by using a monocular camera. The proposed algorithms are integrated with simultaneous localization and mapping (SLAM) with a focus on indoor aerial vehicle applications. We experimentally validate the proposed algorithms by using a fully self-contained micro aerial vehicle (MAV) with on-board image processing and SLAM capabilities. The range measurement strategy is inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals. The navigation strategy assumes an unknown, GPS-denied environment, which is representable via corner-like feature points and straight architectural lines. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2009.5354050DOIArticle
http://ieeexplore.ieee.org/document/5354050/PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2009 IEEE. Date of Conference: 10-15 Oct. 2009. Date Added to IEEE Xplore: 15 December 2009. The research reported in this paper was in part supported by National Science Foundation (Grant ECCS-0428040), Information Infrastructure Institute (I3), Department of Aerospace Engineering and Virtual Reality Application Center at Iowa State University, and Air Force Office of Scientific Research.
Group:GALCIT
Funders:
Funding AgencyGrant Number
NSFECCS-0428040
Iowa State UniversityUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Record Number:CaltechAUTHORS:20161122-144014712
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161122-144014712
Official Citation:K. Celik, S. J. Chung, M. Clausman and A. K. Somani, "Monocular vision SLAM for indoor aerial vehicles," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 1566-1573. doi: 10.1109/IROS.2009.5354050
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72258
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:22 Nov 2016 23:38
Last Modified:04 Jan 2017 18:57

Repository Staff Only: item control page