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