Parallel Tracking and Mapping for Controlling VTOL Airframe
Joint Authors
Source
Journal of Control Science and Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-12-10
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This work presents a vision based system for navigation on a vertical takeoff and landing unmanned aerial vehicle (UAV).
This is a monocular vision based, simultaneous localization and mapping (SLAM) system, which measures the position and orientation of the camera and builds a map of the environment using a video stream from a single camera.
This is different from past SLAM solutions on UAV which use sensors that measure depth, like LIDAR, stereoscopic cameras or depth cameras.
Solution presented in this paper extends and significantly modifies a recent open-source algorithm that solves SLAM problem using approach fundamentally different from a traditional approach.
Proposed modifications provide the position measurements necessary for the navigation solution on a UAV.
The main contributions of this work include: (1) extension of the map building algorithm to enable it to be used realistically while controlling a UAV and simultaneously building the map; (2) improved performance of the SLAM algorithm for lower camera frame rates; and (3) the first known demonstration of a monocular SLAM algorithm successfully controlling a UAV while simultaneously building the map.
This work demonstrates that a fully autonomous UAV that uses monocular vision for navigation is feasible.
American Psychological Association (APA)
Jama, Michal& Schinstock, Dale. 2011. Parallel Tracking and Mapping for Controlling VTOL Airframe. Journal of Control Science and Engineering،Vol. 2011, no. 2011, pp.1-10.
https://search.emarefa.net/detail/BIM-470138
Modern Language Association (MLA)
Jama, Michal& Schinstock, Dale. Parallel Tracking and Mapping for Controlling VTOL Airframe. Journal of Control Science and Engineering No. 2011 (2011), pp.1-10.
https://search.emarefa.net/detail/BIM-470138
American Medical Association (AMA)
Jama, Michal& Schinstock, Dale. Parallel Tracking and Mapping for Controlling VTOL Airframe. Journal of Control Science and Engineering. 2011. Vol. 2011, no. 2011, pp.1-10.
https://search.emarefa.net/detail/BIM-470138
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-470138