Monocular Vision SLAM for Indoor Aerial Vehicles
Joint Authors
Source
Journal of Electrical and Computer Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-04-15
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Engineering Sciences and Information Technology
Information Technology and Computer Science
Abstract EN
This paper presents a novel indoor navigation and ranging strategy via monocular camera.
By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM.
The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines.
We experimentally validate the proposed algorithms on a fully self-contained microaerial vehicle (MAV) with sophisticated on-board image processing and SLAM capabilities.
Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options.
Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy.
American Psychological Association (APA)
Çelik, Koray& Somani, Arun K.. 2013. Monocular Vision SLAM for Indoor Aerial Vehicles. Journal of Electrical and Computer Engineering،Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-467004
Modern Language Association (MLA)
Çelik, Koray& Somani, Arun K.. Monocular Vision SLAM for Indoor Aerial Vehicles. Journal of Electrical and Computer Engineering No. 2013 (2013), pp.1-15.
https://search.emarefa.net/detail/BIM-467004
American Medical Association (AMA)
Çelik, Koray& Somani, Arun K.. Monocular Vision SLAM for Indoor Aerial Vehicles. Journal of Electrical and Computer Engineering. 2013. Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-467004
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-467004