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

页码：343 / +

页数：2

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