Title :
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
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;
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
