Mono-vision corner SLAM for indoor navigation

Koray Çelik, Soon Jo Chung, Arun Somani

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

Abstract

We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied mamnade environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based path-finding through a conventional maze of corridors in a large building.

Original languageEnglish (US)
Title of host publication2008 IEEE International Conference on Electro/Information Technology, IEEE EIT 2008 Conference
Pages343-348
Number of pages6
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Electro/Information Technology, IEEE EIT 2008 Conference - Ames, IA, United States
Duration: May 18 2008May 20 2008

Publication series

Name2008 IEEE International Conference on Electro/Information Technology, IEEE EIT 2008 Conference

Other

Other2008 IEEE International Conference on Electro/Information Technology, IEEE EIT 2008 Conference
CountryUnited States
CityAmes, IA
Period5/18/085/20/08

ASJC Scopus subject areas

  • Information Systems and Management
  • Electrical and Electronic Engineering
  • Communication

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