Mono-vision corner SLAM for indoor navigation

Author

Celik, Koray ; Chung, Soon-Jo ; Somani, Arun

Author_Institution

Mono-vision corner SLAM for indoor Navig., Iowa State Univ., Ames, IA

fYear

2008

fDate

18-20 May 2008

Firstpage

343

Lastpage

348

Abstract

We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied manmade environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based path-finding through a conventional maze of corridors in a large building.

Keywords

SLAM (robots); aerospace robotics; edge detection; feature extraction; microrobots; mobile robots; path planning; remotely operated vehicles; robot vision; autonomous microaerial vehicle; corner based feature points; indoor navigation; mono-vision corner SLAM; monocular camera; range measurement method; real-time monocular vision; simultaneous localization-mapping; vision based path-finding; Cameras; Focusing; Global Positioning System; Intelligent sensors; Lenses; Navigation; Payloads; Reconnaissance; Robot vision systems; Simultaneous localization and mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Electro/Information Technology, 2008. EIT 2008. IEEE International Conference on

Conference_Location

Ames, IA

Print_ISBN

978-1-4244-2029-2

Electronic_ISBN

978-1-4244-2030-8

Type

conf

DOI

10.1109/EIT.2008.4554326

Filename

4554326