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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.
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Contributor : David Filliat <>
Submitted on : Monday, December 26, 2011 - 9:38:25 PM
Last modification on : Thursday, January 21, 2021 - 9:26:01 AM
Long-term archiving on: : Monday, November 19, 2012 - 11:51:00 AM


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  • HAL Id : hal-00655111, version 1


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⟩



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