Visual SLAM for Flying Vehicles
| Autor: | Giorgio Grisetti, Cyrill Stachniss, Bastian Steder, Wolfram Burgard |
|---|---|
| Rok vydání: | 2008 |
| Předmět: |
Computer science
business.industry Robotics Mobile robot Simultaneous localization and mapping Computer Science Applications Stereopsis attitude sensor flying vehicles simultaneous localization and mapping (slam) vision Control and Systems Engineering Robustness (computer science) Computer vision Motion planning Artificial intelligence Electrical and Electronic Engineering business Monocular vision Stereo camera |
| Zdroj: | IEEE Transactions on Robotics. 24:1088-1093 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2008.2004521 |
| Popis: | The ability to learn a map of the environment is important for numerous types of robotic vehicles. In this paper, we address the problem of learning a visual map of the ground using flying vehicles. We assume that the vehicles are equipped with one or two low-cost downlooking cameras in combination with an attitude sensor. Our approach is able to construct a visual map that can later on be used for navigation. Key advantages of our approach are that it is comparably easy to implement, can robustly deal with noisy camera images, and can operate either with a monocular camera or a stereo camera system. Our technique uses visual features and estimates the correspondences between features using a variant of the progressive sample consensus (PROSAC) algorithm. This allows our approach to extract spatial constraints between camera poses that can then be used to address the simultaneous localization and mapping (SLAM) problem by applying graph methods. Furthermore, we address the problem of efficiently identifying loop closures. We performed several experiments with flying vehicles that demonstrate that our method is able to construct maps of large outdoor and indoor environments. |
| Databáze: | OpenAIRE |
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