Vision-based SLAM system for MAVs in GPS-denied environments
نویسندگان
چکیده
منابع مشابه
Monocular Vision based Autonomous Navigation for a Cost-Effective Open-Source MAVs in GPS-denied Environments
In this paper, we present monocular vision guided autonomous navigation system for Micro Aerial Vehicles (MAVs) in GPS-denied environments. The major problem of a monocular system is that the depth scale of the scene can not be determined without prior knowledge or other sensors. To address this problem we solve a cost function, which consists of a drift-free altitude measurement together with ...
متن کاملMVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments
We present a real-time vision navigation and ranging method (VINAR) for the purpose of Simultaneous Localization and Mapping (SLAM) using monocular vision. Our navigation strategy assumes a GPS denied unknown environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based SLAM throug...
متن کاملMonocular Vision based Navigation in GPS-Denied Riverine Environments
This paper presents a new method to estimate the range and bearing of landmarks and solve the simultaneous localization and mapping (SLAM) problem. The proposed ranging and SLAM algorithms have application to a micro aerial vehicle (MAV) flying through riverine environments which occasionally involve heavy foliage and forest canopy. Monocular vision navigation has merits in MAV applications sin...
متن کاملMonocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments
Autonomous micro aerial vehicles (MAVs) will soon play a major role in tasks such as search and rescue, environment monitoring, surveillance, and inspection. They allow us to easily access environments to which no humans or other vehicles can get access. This reduces the risk for both the people and the environment. For the above applications, it is, however, a requirement that the vehicle is a...
متن کاملBiologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments
This paper presents an in-depth theoretical study of bio-vision inspired feature extraction and depth perception method integrated with vision-based simultaneous localization and mapping (SLAM). We incorporate the key functions of developed visual cortex in several advanced species, including humans, for depth perception and pattern recognition. Our navigation strategy assumes GPS-denied manmad...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Micro Air Vehicles
سال: 2017
ISSN: 1756-8293,1756-8307
DOI: 10.1177/1756829317705325