MVCSLAM: Mono-vision corner SLAM for autonomous micro-helicopters in GPS denied environments

Koray Celik, Soon-Jo Chung, Arun K. Somani

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

Abstract

We present a real-time vision navigation and ranging method (VINAR) for the purpose of Simultaneous Localization and Mapping (SLAM) using monocular vision. Our navigation strategy assumes a GPS denied unknown 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 SLAM through a conventional maze of corridors in a large building with an autonomous Micro Aerial Vehicle (MAV). We propose a method for gathering useful landmarks from a monocular camera for SLAM use. We make use of the corners by exploiting the architectural features of the manmade indoors.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit
StatePublished - Dec 1 2008
EventAIAA Guidance, Navigation and Control Conference and Exhibit - Honolulu, HI, United States
Duration: Aug 18 2008Aug 21 2008

Publication series

NameAIAA Guidance, Navigation and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation and Control Conference and Exhibit
CountryUnited States
CityHonolulu, HI
Period8/18/088/21/08

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ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Celik, K., Chung, S-J., & Somani, A. K. (2008). MVCSLAM: Mono-vision corner SLAM for autonomous micro-helicopters in GPS denied environments. In AIAA Guidance, Navigation and Control Conference and Exhibit [2008-6670] (AIAA Guidance, Navigation and Control Conference and Exhibit).