Mono-vision corner SLAM for indoor navigation

被引：22
作者：
Celik, Koray [1 ]
Chung, Soon-Jo [2 ]
Somani, Arun [1 ]
机构：
[1] Iowa State Univ, Dept Elect & Comp Engn, Ames, IA 50011 USA
[2] Iowa State Univ, Dept Aerosp Engn, Ames, IA 50011 USA
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ELECTRO/INFORMATION TECHNOLOGY | 2008年
关键词：
D O I：
10.1109/EIT.2008.4554326
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 manmade 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.
引用
收藏
页码：343 / +
页数：2
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