Airborne Simultaneous Localisation and Map Building

dc.contributor.authorKim, Jonghyuk
dc.contributor.authorSukkarieh, Salah
dc.coverage.spatialTaipei Taiwan
dc.date.accessioned2015-12-07T22:38:30Z
dc.date.createdSeptember 14 2003
dc.date.issued2003
dc.date.updated2015-12-07T10:38:42Z
dc.description.abstractThis 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.isbn1050-4729
dc.identifier.urihttp://hdl.handle.net/1885/23472
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2003)
dc.sourceProceedings of the 2003 IEEE International Conference on Robotics and Automation
dc.subjectKeywords: 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.titleAirborne Simultaneous Localisation and Map Building
dc.typeConference paper
local.bibliographicCitation.lastpage411
local.bibliographicCitation.startpage406
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.affiliationSukkarieh, Salah, University of Sydney
local.contributor.authoremailu4259952@anu.edu.au
local.contributor.authoruidKim, Jonghyuk, u4259952
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor091300 - MECHANICAL ENGINEERING
local.identifier.ariespublicationu4010714xPUB27
local.identifier.scopusID2-s2.0-0345307745
local.identifier.uidSubmittedByu4010714
local.type.statusPublished Version

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