Biologically inspired monocular vision based navigation and mapping in gps-denied environments

Koray Celik, Soon Jo Chung, Matthew Clausman, Arun K. Somani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an in-depth theoretical study of bio-vision inspired feature extraction and depth perception method integrated with vision-based simultaneous localization and mapping (SLAM). We incorporate the key functions of developed visual cortex in several advanced species, including humans, for depth perception and pattern recognition. Our navigation strategy assumes GPS-denied manmade environment consisting of orthogonal walls, corridors and doors. By exploiting the architectural features of the indoors, we introduce a method for gathering useful landmarks from a monocular camera for SLAM use, with absolute range information without using active ranging sensors. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners. The proposed methods are experimentally validated by our self-contained MAV inside a conventional building.

Original languageEnglish (US)
Title of host publicationAIAA Infotech at Aerospace Conference and Exhibit and AIAA Unmanned...Unlimited Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479717
DOIs
StatePublished - 2009

Publication series

NameAIAA Infotech at Aerospace Conference and Exhibit and AIAA Unmanned...Unlimited Conference

ASJC Scopus subject areas

  • Aerospace Engineering
  • Industrial and Manufacturing Engineering

Fingerprint

Dive into the research topics of 'Biologically inspired monocular vision based navigation and mapping in gps-denied environments'. Together they form a unique fingerprint.

Cite this