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Aerial SLAM with a Single Camera Using Visual Expectation

Milford, Michael J; Schill, Felix; Corke, Peter; Mahony, Robert; Wyeth, Gordon


Micro aerial vehicles (MAVs) are a rapidly growing area of research and development in robotics. For autonomous robot operations, localization has typically been calculated using GPS, external camera arrays, or onboard range or vision sensing. In cluttered indoor or outdoor environments, onboard sensing is the only viable option. In this paper we present an appearance-based approach to visual SLAM on a flying MAV using only low quality vision. Our approach consists of a visual place recognition...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: IEEE International Conference on Robotics and Automation 2011 proceedings
DOI: 10.1109/ICRA.2011.5980329


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