2D Simultaneous Localization And Mapping for Micro Air Vehicles
نویسندگان
چکیده
The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the effectiveness of our approach with videos taken from a heading-down camera mounted on different MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of the camera’s radial distortion coefficient are presented.
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