Indoor navigation for aerial vehicle using monocular visual SLAM

This paper demonstrates several improvements on implementing a fast monocular visual slam system (MonoSLAM) to navigate indoor aerial vehicle. These improvements include designing for the framework of the navigation system, redesigning of landmark patch matching method and giving new rules updating the image patch to overcome some particularly bad situation when landmarks are insufficient. We demonstrate the usefulness of these improvement in the SLAM system when guiding for a quadrotor in our lab. With those improvements, the SLAM system is capable not only for indoor navigation but also some outdoor environment with stable illumination. Several experiments are made to vindicate the effectiveness of the system.