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

被引：0

作者：

Chao-Lei Wang ^{[1
]}

Tian-Miao Wang ^{[1
]}

Jian-Hong Liang ^{[1
]}

Yi-Cheng Zhang ^{[1
]}

Yi Zhou ^{[1
]}

机构：

[1] Robotics Institute, Beijing University of Aeronautics and Astronautics

来源：

International Journal of Automation and Computing | 2013年 / 05期

基金：

美国国家科学基金会;

关键词：

Visual simultaneous localization and mapping(SLAM); bearing-only observation; inertial measurement unit; small unmanned aerial vehicles(UAVs); GPS-denied environment;

D O I：

暂无

中图分类号：

V279 [无人驾驶飞机];

学科分类号：

1111 ;

摘要：

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.

引用

页码：387 / 396

页数：10

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