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MVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments

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. http://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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2008-6670DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2008-6670PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
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
Funders:
Funding AgencyGrant Number
NSFECCS-0428040
Iowa State UniversityUNSPECIFIED
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Other Numbering System NameOther Numbering System ID
AIAA Paper2008-6670
Record Number:CaltechAUTHORS:20161221-113250801
Persistent URL:http://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:04 Jan 2017 18:52

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