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Inertial-Aided Vision-Based Localization and Mapping in a Riverine Environment with Reflection Measurements

Yang, Junho and Dani, Ashwin P. and Chung, Soon-Jo and Hutchinson, Seth (2013) Inertial-Aided Vision-Based Localization and Mapping in a Riverine Environment with Reflection Measurements. In: AIAA Guidance, Navigation, and Control Conference 2013. American Institute of Aeronautics and Astronautics (AIAA) , Boston MA, Art. No.-2013. ISBN 978-1-62410-224-0.

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This paper presents an inertial-aided vision-based localization and mapping algorithm for an unmanned aerial vehicle (UAV) that can operate in a GPS-denied riverine environment. We take vision measurements from the features surrounding the river and their corresponding points reflected in the river. We apply a robot-centric mapping framework to let the uncertainty of the features be referenced to the UAV body frame and estimate the 3D positions of point features while estimating the location of the UAV. We demonstrate the localization and mapping results with sensors on our quadcopter UAV platform in the University of Illinois at Urbana Champaign Boneyard Creek. The UAV is equipped with a light weight monocular camera, an inertial measurement unit (IMU) which contains a magnetometer, an ultrasound altimeter, and an on-board computer. To our knowledge, we report the first result of performing localization and mapping by exploiting multiple views with reflections of features in a river-like environment.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2013 American Institute of Aeronautics and Astronautics. This material is based in part upon work supported by the Office of Naval Research (N00014-11-1-0088) and John Deere. We would like to thank Xichen Shi, Sunil Patel, Martin Miller, Simon Peter, Ghazaleh Panahandehnigjeh, and Shubham Gupta for their help.
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-11-1-0088
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AIAA Paper2013-5246
Record Number:CaltechAUTHORS:20161130-084925184
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Official Citation:Junho Yang, Ashwin Dani, Soon-Jo Chung, and Seth Hutchinson. "Inertial-Aided Vision-Based Localization and Mapping in a Riverine Environment with Reflection Measurements", AIAA Guidance, Navigation, and Control (GNC) Conference, Guidance, Navigation, and Control and Co-located Conferences, (AIAA 2013-5246)
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72430
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 18:50
Last Modified:03 Oct 2019 16:17

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