TY - GEN
T1 - Indoor navigation for aerial vehicle using monocular visual SLAM
AU - He, Xiang
AU - Cai, Zhihao
AU - Huang, Dongze
AU - Wang, Yingxun
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - This paper demonstrates several improvements on implementing a fast monocular visual slam system (MonoSLAM) to navigate indoor aerial vehicle. These improvements include designing for the framework of the navigation system, redesigning of landmark patch matching method and giving new rules updating the image patch to overcome some particularly bad situation when landmarks are insufficient. We demonstrate the usefulness of these improvement in the SLAM system when guiding for a quadrotor in our lab. With those improvements, the SLAM system is capable not only for indoor navigation but also some outdoor environment with stable illumination. Several experiments are made to vindicate the effectiveness of the system.
AB - This paper demonstrates several improvements on implementing a fast monocular visual slam system (MonoSLAM) to navigate indoor aerial vehicle. These improvements include designing for the framework of the navigation system, redesigning of landmark patch matching method and giving new rules updating the image patch to overcome some particularly bad situation when landmarks are insufficient. We demonstrate the usefulness of these improvement in the SLAM system when guiding for a quadrotor in our lab. With those improvements, the SLAM system is capable not only for indoor navigation but also some outdoor environment with stable illumination. Several experiments are made to vindicate the effectiveness of the system.
UR - https://www.scopus.com/pages/publications/84922513352
U2 - 10.1109/CGNCC.2014.7007496
DO - 10.1109/CGNCC.2014.7007496
M3 - 会议稿件
AN - SCOPUS:84922513352
T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
SP - 2071
EP - 2075
BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Y2 - 8 August 2014 through 10 August 2014
ER -