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

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...

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Published in:International journal of automation and computing 2013-10, Vol.10 (5), p.387-396
Main Authors: Wang, Chao-Lei, Wang, Tian-Miao, Liang, Jian-Hong, Zhang, Yi-Cheng, Zhou, Yi
Format: Article
Language:English
Subjects:
Automation
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Control
Engineering
Global Positioning System
GPS
Inertial
Mathematical analysis
Mechatronics
Position (location)
Robotics
SLAM
Unmanned aerial vehicles
Vehicles
Visual
全球定位系统
小型无人机
惯性导航系统
惯性测量单元
环境
视觉测量
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cited_by cdi_FETCH-LOGICAL-c446t-ede1485f3d22c66a79e170946b137b7ad6bc34375e795e192d41910ff1b9d8e73
cites cdi_FETCH-LOGICAL-c446t-ede1485f3d22c66a79e170946b137b7ad6bc34375e795e192d41910ff1b9d8e73
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container_issue 5
container_start_page 387
container_title International journal of automation and computing
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creator Wang, Chao-Lei
Wang, Tian-Miao
Liang, Jian-Hong
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Zhou, Yi
description 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.
doi_str_mv 10.1007/s11633-013-0735-8
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source Alma/SFX Local Collection
subjects Automation
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Control
Engineering
Global Positioning System
GPS
Inertial
Mathematical analysis
Mechatronics
Position (location)
Robotics
SLAM
Unmanned aerial vehicles
Vehicles
Visual
全球定位系统
小型无人机
惯性导航系统
惯性测量单元
环境
视觉测量
title Bearing-only Visual SLAM for Small Unmanned Aerial Vehicles in GPS-denied Environments
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