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Airborne Simultaneous Localisation and Map Building

Kim, Jonghyuk; Sukkarieh, Salah


This paper presents results of the application of simultaneous localisation and map building (SLAM) for an uninhibited aerial vehicle (UAV). Single vision camera and inertial measurement unit (IMU) are installed in a UAV platform. The data taken from a flight test is used to run the SLAM algorithm. Results show that both the map and the vehicle uncertainty are corrected even though the model of the system and observation are highly non-linear. The results, however, also indicate that further...[Show more]

CollectionsANU Research Publications
Date published: 2003
Type: Conference paper
Source: Proceedings of the 2003 IEEE International Conference on Robotics and Automation


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