Real-time performance test of an vision-based inertial SLAM

Author

Yun, Sukchang ; Lee, Byoung-Jin ; Lee, Young Jae ; Sung, Sangkyung

Author_Institution

Dept. of Aerosp. Inf. Eng., Konkuk Univ., Seoul, South Korea

fYear

2010

Firstpage

2423

Lastpage

2426

Abstract

Despite its precise positioning performance, a GPS based navigation system may require the reference or augmentation station in close boundaries and is liable to be affected by satellite observation environments. Thus, this paper presents a vision-based inertial SLAM navigation system which can operate in a real-time manner and uses purely unknown feature points in order to cope with the limited GPS/INS integration environment. And real-time performance of the presented system is verified via indoor test.

Keywords

Global Positioning System; SLAM (robots); aerospace robotics; inertial navigation; real-time systems; robot vision; GPS based navigation system; GPS/INS integration environment; augmentation station; indoor test; positioning performance; real-time manner; real-time performance test; reference station; satellite observation environments; vision-based inertial SLAM navigation system; Estimation; Machine vision; Navigation; Real time systems; Simultaneous localization and mapping; Heterogeneous sensor integration; IMU; Real-Time; Relative positioning; Vision sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation and Systems (ICCAS), 2010 International Conference on

Conference_Location

Gyeonggi-do

Print_ISBN

978-1-4244-7453-0

Electronic_ISBN

978-89-93215-02-1

Type

conf

Filename

5670282