NDLI: Bearing-only Visual SLAM for Small Unmanned Aerial Vehicles in GPS-denied Environments

Content Provider	Springer Nature Link
Author	Wang, Chao Lei Wang, Tian Miao Liang, Jian Hong Zhang, Yi Cheng Zhou, Yi
Copyright Year	2013
Abstract	This paper presents a hierarchical simultaneous localization and mapping (SLAM) system for a small unmanned aerial vehicle (UAV) using the output of an inertial measurement unit (IMU) and the bearing-only observations from an onboard monocular camera. A homography based approach is used to calculate the motion of the vehicle in 6 degrees of freedom by image feature match. This visual measurement is fused with the inertial outputs by an indirect extended Kalman filter (EKF) for attitude and velocity estimation. Then, another EKF is employed to estimate the position of the vehicle and the locations of the features in the map. Both simulations and experiments are carried out to test the performance of the proposed system. The result of the comparison with the referential global positioning system/inertial navigation system (GPS/INS) navigation indicates that the proposed SLAM can provide reliable and stable state estimation for small UAVs in GPS-denied environments.
Starting Page	387
Ending Page	396
Page Count	10
File Format	PDF
ISSN	14768186
Journal	International Journal of Automation and Computing
Volume Number	10
Issue Number	5
e-ISSN	17518520
Language	English
Publisher	Springer-Verlag
Publisher Date	2014-05-22
Publisher Place	London
Access Restriction	Subscribed
Subject Keyword	Visual simultaneous localization and mapping (SLAM) bearing-only observation inertial measurement unit small unmanned aerial vehicles (UAVs) GPS-denied environment Control, Robotics, Mechatronics Computer Applications Computer-Aided Engineering (CAD, CAE) and Design
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Control and Systems Engineering Modeling and Simulation Computer Science Applications

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