NDLI: Scene matching based EKF-SLAM visual navigation

Content Provider	IEEE Xplore Digital Library
Author	Li Yaojun Pan Quan Zhao Chunhui Yang Feng
Copyright Year	2012
Description	Author affiliation: School of Automation, Northwestern Polytechnical University, Xi'an 710072 (Li Yaojun; Pan Quan; Zhao Chunhui; Yang Feng)
Abstract	For autonomous visual navigation of small UAV (SUAV), we proposed visual SLAM (Simultaneous Localization and Mapping) algorithms based on Extended Kalman Filtering (EKF) in unstructured natural environment. In this paper, a scene matching method with weighted Hausdorff distance was introduced firstly for waypoints accurate abstraction. On this foundation, the small UAV's nonlinear state model was analyzed to establish nonlinear relationship model between the measurement and the waypoints, and then on to predict and estimate the state of the model, deal with data association and extend the state for new waypoints. Through the EKF-SLAM algorithm cycle prediction and estimation, our algorithm was realized to locate the small U AV accurately by visual navigation. Finally, by using waypoints abstract from scene matching navigation method, our simulation results show that the proposed algorithm could effectively reduce the estimation error of navigation system, simultaneously, provide theoretical supports for application of autonomous navigation.
Starting Page	5094
Ending Page	5099
File Size	575298
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	SUAV Visualization Analytical models EKF Simultaneous localization and mapping Scene Matching Navigation Visual Navigation SLAM Predictive models Prediction algorithms Data models
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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