Monocular vision based navigation in GPS-denied riverine environments

Junho Yang, Dushyant Rao, Soon-Jo Chung, Seth Andrew Hutchinson

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

Abstract

This paper presents a new method to estimate the range and bearing of landmarks and solve the simultaneous localization and mapping (SLAM) problem. The proposed ranging and SLAM algorithms have application to a micro aerial vehicle (MAV) flying through riverine environments which occasionally involve heavy foliage and forest canopy. Monocular vision navigation has merits in MAV applications since it is lightweight and provides abundant visual cues of the environment in comparison to other ranging methods. In this paper, we suggest a monocular vision strategy incorporating image segmentation and epipolar geometry to extend the capability of the ranging method to unknown outdoor environments. The validity of our proposed method is verified through experiments in a river-like environment.

Original languageEnglish (US)
Title of host publicationAIAA Infotech at Aerospace Conference and Exhibit 2011
StatePublished - Dec 1 2011
EventAIAA Infotech at Aerospace Conference and Exhibit 2011 - St. Louis, MO, United States
Duration: Mar 29 2011Mar 31 2011

Publication series

NameAIAA Infotech at Aerospace Conference and Exhibit 2011

Other

OtherAIAA Infotech at Aerospace Conference and Exhibit 2011
Country/TerritoryUnited States
CitySt. Louis, MO
Period3/29/113/31/11

ASJC Scopus subject areas

  • Engineering(all)

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