Airborne Simultaneous Localisation and Map Building
Date
2003
Authors
Kim, Jonghyuk
Sukkarieh, Salah
Journal Title
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Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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 work of observability and the relationship between vehicle model drift and the number and the location of landmarks needs to be further analysed given the highly dynamic nature of the system.
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Keywords
Keywords: Aerial photography; Algorithms; Cameras; Computer simulation; Computer vision; Image sensors; Mapping; Mathematical models; Observability; Flight test; Inertial measurement unit; Uninhibited aerial vehicle; Mobile robots
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Source
Proceedings of the 2003 IEEE International Conference on Robotics and Automation
Type
Conference paper
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DOI
Restricted until
2037-12-31
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