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Real-time Implementation of Airborne Inertial-SLAM

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dc.contributor.authorKim, Jonghyuk
dc.contributor.authorSukkarieh, Salah
dc.date.accessioned2015-12-07T22:46:44Z
dc.date.issued2007
dc.date.updated2015-12-07T11:45:06Z
dc.description.abstractThis paper addresses some challenges to the real-time implementation of Simultaneous Localisation and Mapping (SLAM) on a UAV platform. When compared to the implementation of SLAM in 2D environments, airborne implementation imposes several difficulties in terms of computational complexity and loop closure, with high nonlinearity in both vehicle dynamics and observations. An implementation of airborne SLAM is formulated to relieve this computational complexity in both direct and indirect ways. Our implementation is based on an Extended Kalman Filter (EKF), which fuses data from an Inertial Measurement Unit (IMU) with data from a passive vision system. Real-time results from flight trials are provided.
dc.identifier.issn0921-8890
dc.identifier.urihttp://hdl.handle.net/1885/25898
dc.publisherElsevier
dc.sourceRobotics and Autonomous Systems
dc.subjectKeywords: Autonomous agents; Computational complexity; Conformal mapping; Kalman filtering; Motion estimation; Real time systems; Vision; Airborne simultaneous Localisation and Mapping (SLAM); Inertial Measurement Unit (IMU); Passive vision systems; Vehicle dynamic Airborne SLAM; Inertial Measurement Unit (IMU); UAV; Vision
dc.titleReal-time Implementation of Airborne Inertial-SLAM
dc.typeJournal article
local.bibliographicCitation.lastpage71
local.bibliographicCitation.startpage62
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.affiliationSukkarieh, Salah, University of Sydney
local.contributor.authoruidKim, Jonghyuk, u4259952
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.identifier.absfor091299 - Materials Engineering not elsewhere classified
local.identifier.ariespublicationu4153526xPUB41
local.identifier.citationvolume55
local.identifier.doi10.1016/j.robot.2006.06.006
local.identifier.scopusID2-s2.0-33751160829
local.type.statusPublished Version

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