Adaptive decentralised cooperative vision based simultaneous localization and mapping for multiple UAV

This paper aims to present an Adaptive Decentralized Cooperative Visual Simultaneous Localization and Mapping (AD CVSLAM) solution based on a stereovision system. With the proposed solution, a group of Unmanned Aerial Vehicles (UAVs) will be able to construct a large reliable map and localize themselves in this map without any user intervention. The robust Nonlinear H_∞ filter is adapted to the multiple vehicle case to ensure a robust Pose estimation; as well a new approach for feature initialization based on an Adaptive Covariance Intersection technique is used. Finally, validation and comparison using simulation data are presented and discussed.