Title :
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
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;
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
DOI :
10.1109/EIT.2008.4554326
