NDLI: Improving monocular SLAM with altimeter hints for fixed-wing aircraft navigation and emergency landing

Content Provider	IEEE Xplore Digital Library
Author	Andert, F. Mejias, L.
Copyright Year	2015
Description	Author affiliation: Australian Res. Centre for Aerosp. Autom., Queensland Univ. of Technol., Brisbane, QLD, Australia (Mejias, L.) \|\| Inst. of Flight Syst., German Aerosp. Center, Braunschweig, Germany (Andert, F.)
Abstract	This paper presents a visual Simultaneous Localization And Mapping (SLAM) method for temporary satellite dropout navigation for an unpowered fixed-wing aircraft. It is designed for flight altitudes beyond typical stereo ranges, but within the range of distance measurement sensors. The proposed visual SLAM method consists of a common localization step with monocular camera resectioning, and a mapping step which incorporates radar altimeter data for absolute scale estimation. With that, there will be no scale drift of the map and of the estimated flight path. The method does not require simplifications like known landmarks and it is thus suitable for unknown and nearly arbitrary terrain. The method is tested with sensor datasets from a manned Cessna 172 aircraft. With 5% absolute scale error from radar measurements causing approximately 2-6% accumulation error over the flown distance, stable positioning is achieved over several minutes of flight time. The main limitations are flight altitudes above the radar range of 750 m where the monocular method will suffer from scale drift, and, depending on the flight speed, flights below 50 m where image processing gets difficult with a downwards-looking camera due to the high optical flow rates and the low image overlap.
Starting Page	1008
Ending Page	1016
File Size	884589
Page Count	9
File Format	PDF
e-ISBN	9781479960101
DOI	10.1109/ICUAS.2015.7152390
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Simultaneous localization and mapping Cameras Satellite navigation systems Aircraft navigation Vehicles
Content Type	Text
Resource Type	Article

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