Airborne Simultaneous Localisation and Map Building
dc.contributor.author | Kim, Jonghyuk | |
dc.contributor.author | Sukkarieh, Salah | |
dc.coverage.spatial | Taipei Taiwan | |
dc.date.accessioned | 2015-12-07T22:38:30Z | |
dc.date.created | September 14 2003 | |
dc.date.issued | 2003 | |
dc.date.updated | 2015-12-07T10:38:42Z | |
dc.description.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. | |
dc.identifier.isbn | 1050-4729 | |
dc.identifier.uri | http://hdl.handle.net/1885/23472 | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.relation.ispartofseries | IEEE International Conference on Robotics and Automation (ICRA 2003) | |
dc.source | Proceedings of the 2003 IEEE International Conference on Robotics and Automation | |
dc.subject | 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 | |
dc.title | Airborne Simultaneous Localisation and Map Building | |
dc.type | Conference paper | |
local.bibliographicCitation.lastpage | 411 | |
local.bibliographicCitation.startpage | 406 | |
local.contributor.affiliation | Kim, Jonghyuk, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Sukkarieh, Salah, University of Sydney | |
local.contributor.authoremail | u4259952@anu.edu.au | |
local.contributor.authoruid | Kim, Jonghyuk, u4259952 | |
local.description.embargo | 2037-12-31 | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
local.identifier.absfor | 091300 - MECHANICAL ENGINEERING | |
local.identifier.ariespublication | u4010714xPUB27 | |
local.identifier.scopusID | 2-s2.0-0345307745 | |
local.identifier.uidSubmittedBy | u4010714 | |
local.type.status | Published Version |
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