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Monocular Vision based Navigation in GPS-Denied Riverine Environments

Yang, Junho and Rao, Dushyant and Chung, Soon-Jo and Hutchinson, Seth (2011) Monocular Vision based Navigation in GPS-Denied Riverine Environments. In: Infotech@Aerospace Conference and Exhibit 2011. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2011-1403. ISBN 978-1-60086-944-0. http://resolver.caltech.edu/CaltechAUTHORS:20161130-135343959

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Abstract

This paper presents a new method to estimate the range and bearing of landmarks and solve the simultaneous localization and mapping (SLAM) problem. The proposed ranging and SLAM algorithms have application to a micro aerial vehicle (MAV) flying through riverine environments which occasionally involve heavy foliage and forest canopy. Monocular vision navigation has merits in MAV applications since it is lightweight and provides abundant visual cues of the environment in comparison to other ranging methods. In this paper, we suggest a monocular vision strategy incorporating image segmentation and epipolar geometry to extend the capability of the ranging method to unknown outdoor environments. The validity of our proposed method is verified through experiments in a river-like environment.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2011-1403DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2011-1403PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2011 American Institute of Aeronautics and Astronautics. This project was supported by the Office of Naval Research (ONR). The authors are also grateful to Jonathan Yong and Koray Celik for their support.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)UNSPECIFIED
Other Numbering System:
Other Numbering System NameOther Numbering System ID
AIAA Paper2011-1403
Record Number:CaltechAUTHORS:20161130-135343959
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161130-135343959
Official Citation:Junho Yang, Dushyant Rao, Soon-Jo Chung, and Seth Hutchinson. "Monocular Vision based Navigation in GPS-Denied Riverine Environments", Infotech@Aerospace 2011, Infotech@Aerospace Conferences, () http://dx.doi.org/10.2514/6.2011-1403
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72454
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 22:09
Last Modified:18 May 2017 21:32

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