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Published May 2008 | Published
Book Section - Chapter Open

Mono-vision corner SLAM for indoor navigation


We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied manmade 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 path-finding through a conventional maze of corridors in a large building.

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© 2008 IEEE. Date of Conference: 18-20 May 2008. Date Added to IEEE Xplore: 27 June 2008.

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August 19, 2023
August 19, 2023