DocumentCode :
2234080
Title :
Airborne simultaneous localisation and map building
Author :
Kim, Jong-Hyuk ; Sukkarieh, Salah
Author_Institution :
Dept. of Aerosp., Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia
Volume :
1
fYear :
2003
fDate :
14-19 Sept. 2003
Firstpage :
406
Abstract :
This paper presents results of the application of simultaneous localisation and map building (SLAM) for an uninhabited aerial vehicle (UAV). Single vision camera and inertial measurement unit (IMU) are installed in a UAV platform. The data taken from a flight test is used to run the SLAM algorithm. Results show that both the map and the vehicle uncertainty are corrected even though the model of the system and observation are highly non-linear. The results, however, also indicate that further work of observability and the relationship between vehicle model drift and the number and the location of landmarks need to be further analysed given the highly dynamic nature of the system.
Keywords :
aerospace robotics; aircraft control; aircraft navigation; control nonlinearities; observability; airborne platforms; autonomous navigation; inertial measurement unit; observability; radar information; simultaneous localisation and map building; single vision camera; uninhabited aerial vehicle; vision sensor; Aerodynamics; Aerospace engineering; Australia; Land vehicles; Navigation; Remotely operated vehicles; Robots; Simultaneous localization and mapping; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-7736-2
Type :
conf
DOI :
10.1109/ROBOT.2003.1241629
Filename :
1241629
Link To Document :
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