Monocular vision SLAM for indoor aerial vehicles

Koray Celik, Soon-Jo Chung, Matthew Clausman, Arun K. Somani
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines. We experimentally
more » ... idate the proposed algorithms on a fully self-contained microaerial vehicle (MAV) with sophisticated on-board image processing and SLAM capabilities. Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options. Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy.
doi:10.1109/iros.2009.5354050 dblp:conf/iros/CelikCCS09 fatcat:abxdddwkjjb57h3q2cmdoxnhsy