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Monocular SLAM system for MAVs aided with altitude and range measurements: a GPS-free approach

Author
Urzua, I.; Munguia, R.F.; Grau, A.
Type of activity
Journal article
Journal
Journal of intelligent and robotic systems: theory and applications (Online)
Date of publication
2019-04
Volume
94
Number
1
First page
203
Last page
217
DOI
https://doi.org/10.1007/s10846-018-0775-y Open in new window
Project funding
Robot-human collaboration for transporting goods in urban areas
Repository
http://hdl.handle.net/2117/113944 Open in new window
URL
https://link.springer.com/article/10.1007/s10846-018-0775-y Open in new window
Abstract
A typical navigation system for a Micro Aerial Vehicle (MAV) relies basically on GPS for position estimation. However,for several kinds of applications, the precision of the GPS is inappropriate or even its signal can be unavailable. In this context, and due to its flexibility, Monocular Simultaneous Localization and Mapping (SLAM) methods have become a good alternative for implementing visual-based navigation systems for MAVs that must operate in GPS-denied environments. On the other hand, one ...
Citation
Urzua, S., Munguía, R.F., Grau, A. Monocular SLAM system for MAVs aided with altitude and range measurements: a GPS-free approach. "Journal of intelligent and robotic systems: theory and applications (Online)", vol. 94, núm. 1, Abril 2019, p. 203-217.
Keywords
GPS-denied, Micro aerial vehicles, Monocular SLAM, Visual-based navigation
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants

  • Urzúa Sarquis, Isidro  (author)
  • Munguía Alcalá, Rodrigo Francisco  (author)
  • Grau Saldes, Antoni  (author)

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