2D Simultaneous Localization And Mapping for Micro Air Vehicles

Abstract : The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the e ectiveness of our approach with videos taken from a heading-down camera mounted on diff erent MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of the camera's radial distortion coefficient are presented.
Document type :
Conference papers
Complete list of metadatas

https://hal.archives-ouvertes.fr/hal-00655111
Contributor : David Filliat <>
Submitted on : Monday, December 26, 2011 - 9:38:25 PM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Long-term archiving on : Monday, November 19, 2012 - 11:51:00 AM

File

Angeli_EMAV2006.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00655111, version 1

Citation

Adrien Angeli, David Filliat, Stéphane Doncieux, Jean-Arcady Meyer. 2D Simultaneous Localization And Mapping for Micro Air Vehicles. European Micro Aerial Vehicles (EMAV 2006), Jul 2006, Braunschweig, Germany. ⟨hal-00655111⟩

Share

Metrics

Record views

358

Files downloads

249