Çelik, Koray and Chung, Soon-Jo and Somani, Arun K. (2008) MVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments. In: AIAA Guidance, Navigation and Control Conference and Exhibit 2008. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2008-6670. ISBN 978-1-60086-999-0. https://resolver.caltech.edu/CaltechAUTHORS:20161221-113250801
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Abstract
We present a real-time vision navigation and ranging method (VINAR) for the purpose of Simultaneous Localization and Mapping (SLAM) using monocular vision. Our navigation strategy assumes a GPS denied unknown environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based SLAM through a conventional maze of corridors in a large building with an autonomous Micro Aerial Vehicle (MAV). We propose a method for gathering useful landmarks from a monocular camera for SLAM use. We make use of the corners by exploiting the architectural features of the manmade indoors.
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| Additional Information: | © 2008 American Institute of Aeronautics and Astronautics. The research reported in this article was in part supported by National Science Foundation (Grant ECCS-0428040), and Information Infrastructure Institute (I3). The authors thank Dr. David Jensen at Rockwell Collins Inc. for technical discussions and support. | |||||||||
| Group: | GALCIT | |||||||||
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| DOI: | 10.2514/6.2008-6670 | |||||||||
| Record Number: | CaltechAUTHORS:20161221-113250801 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20161221-113250801 | |||||||||
| Official Citation: | Koray Celik, Soon-Jo Chung, and Arun Somani. "MVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments", AIAA Guidance, Navigation and Control Conference and Exhibit, Guidance, Navigation, and Control and Co-located Conferences, () http://dx.doi.org/10.2514/6.2008-6670 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 73079 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Ruth Sustaita | |||||||||
| Deposited On: | 21 Dec 2016 19:44 | |||||||||
| Last Modified: | 11 Nov 2021 05:11 |
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