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Biologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments

Çelik, Koray and Chung, Soon-Jo and Clausman, Matthew and Somani, Arun (2009) Biologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments. In: AIAA Infotech@Aerospace Conference. AIAA , Reston, VA, Art. No.-2009. ISBN 978-1-60086-979-2.

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This paper presents an in-depth theoretical study of bio-vision inspired feature extraction and depth perception method integrated with vision-based simultaneous localization and mapping (SLAM). We incorporate the key functions of developed visual cortex in several advanced species, including humans, for depth perception and pattern recognition. Our navigation strategy assumes GPS-denied manmade environment consisting of orthogonal walls, corridors and doors. By exploiting the architectural features of the indoors, we introduce a method for gathering useful landmarks from a monocular camera for SLAM use, with absolute range information without using active ranging sensors. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners. The proposed methods are experimentally validated by our self-contained MAV inside a conventional building.

Item Type:Book Section
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Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2009 American Institute of Aeronautics and Astronautics.
Record Number:CaltechAUTHORS:20161129-121035179
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Official Citation:Koray Celik, Soon-Jo Chung, Matthew Clausman, and Arun Somani. "Biologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments", AIAA Infotech@Aerospace Conference, Infotech@Aerospace Conferences, ()
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72407
Deposited By: Ruth Sustaita
Deposited On:29 Nov 2016 21:14
Last Modified:03 Oct 2019 16:17

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