Monocular visual SLAM for small UAVs in GPS-denied environments

Chaolei Wang; Tianmiao Wang; Jianhong Liang; Yang Chen; Yicheng Zhang; Cong Wang

doi:10.1109/ROBIO.2012.6491082

Monocular visual SLAM for small UAVs in GPS-denied environments

Chaolei Wang^*
, Tianmiao Wang
, Jianhong Liang
, Yang Chen
, Yicheng Zhang
, Cong Wang^*

^*Corresponding author for this work

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Scopus citations

Abstract

This paper presents a monocular visual simultaneous localization and mapping (SLAM) system for a small unmanned aerial vehicle (UAV) in GPS-denied environments. A single camera is used to measure the motion of the vehicle and detect features (landmarks) for the map building. The SLAM estimates the positions of the UAV and the features by an extended Kalman filter (EKF), which takes the velocity estimated by the fusion of the inertial and visual measurements as the input. An inverse depth method is adopted for the feature initialization. Both simulations and experiments are carried out to verify the effectiveness of this system.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	896-901
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491082
State	Published - 2012
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

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10.1109/ROBIO.2012.6491082

Cite this

Wang, C., Wang, T., Liang, J., Chen, Y., Zhang, Y., & Wang, C. (2012). Monocular visual SLAM for small UAVs in GPS-denied environments. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 896-901). Article 6491082 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491082

@inproceedings{be0711d251bf481591c11fd79c3ba0fd,

title = "Monocular visual SLAM for small UAVs in GPS-denied environments",

abstract = "This paper presents a monocular visual simultaneous localization and mapping (SLAM) system for a small unmanned aerial vehicle (UAV) in GPS-denied environments. A single camera is used to measure the motion of the vehicle and detect features (landmarks) for the map building. The SLAM estimates the positions of the UAV and the features by an extended Kalman filter (EKF), which takes the velocity estimated by the fusion of the inertial and visual measurements as the input. An inverse depth method is adopted for the feature initialization. Both simulations and experiments are carried out to verify the effectiveness of this system.",

author = "Chaolei Wang and Tianmiao Wang and Jianhong Liang and Yang Chen and Yicheng Zhang and Cong Wang",

year = "2012",

doi = "10.1109/ROBIO.2012.6491082",

language = "英语",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "896--901",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Wang, C, Wang, T , Liang, J, Chen, Y, Zhang, Y & Wang, C 2012, Monocular visual SLAM for small UAVs in GPS-denied environments. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491082, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 896-901, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491082

Monocular visual SLAM for small UAVs in GPS-denied environments. / Wang, Chaolei; Wang, Tianmiao ; Liang, Jianhong et al.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 896-901 6491082 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Monocular visual SLAM for small UAVs in GPS-denied environments

AU - Wang, Chaolei

AU - Wang, Tianmiao

AU - Liang, Jianhong

AU - Chen, Yang

AU - Zhang, Yicheng

AU - Wang, Cong

PY - 2012

Y1 - 2012

N2 - This paper presents a monocular visual simultaneous localization and mapping (SLAM) system for a small unmanned aerial vehicle (UAV) in GPS-denied environments. A single camera is used to measure the motion of the vehicle and detect features (landmarks) for the map building. The SLAM estimates the positions of the UAV and the features by an extended Kalman filter (EKF), which takes the velocity estimated by the fusion of the inertial and visual measurements as the input. An inverse depth method is adopted for the feature initialization. Both simulations and experiments are carried out to verify the effectiveness of this system.

AB - This paper presents a monocular visual simultaneous localization and mapping (SLAM) system for a small unmanned aerial vehicle (UAV) in GPS-denied environments. A single camera is used to measure the motion of the vehicle and detect features (landmarks) for the map building. The SLAM estimates the positions of the UAV and the features by an extended Kalman filter (EKF), which takes the velocity estimated by the fusion of the inertial and visual measurements as the input. An inverse depth method is adopted for the feature initialization. Both simulations and experiments are carried out to verify the effectiveness of this system.

UR - https://www.scopus.com/pages/publications/84876489155

U2 - 10.1109/ROBIO.2012.6491082

DO - 10.1109/ROBIO.2012.6491082

M3 - 会议稿件

AN - SCOPUS:84876489155

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 896

EP - 901

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Wang C, Wang T , Liang J, Chen Y, Zhang Y, Wang C. Monocular visual SLAM for small UAVs in GPS-denied environments. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 896-901. 6491082. (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). doi: 10.1109/ROBIO.2012.6491082

Monocular visual SLAM for small UAVs in GPS-denied environments

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