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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.

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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
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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.
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Iowa State UniversityUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Record Number:CaltechAUTHORS:20161122-144014712
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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
Deposited By: Ruth Sustaita
Deposited On:22 Nov 2016 23:38
Last Modified:03 Oct 2019 16:16

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