Using the Unscented Kalman Filter in Mono-SLAM with Inverse Depth Parametrization for Autonomous Airship Control

Author

Sunderhauf, Niko ; Lange, Sven ; Protzel, Peter

Author_Institution

Chemnitz Univ. of Technol., Chemnitz

fYear

2007

fDate

27-29 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

In this paper, we present an approach for aiding control of an autonomous airship by the means of SLAM. We show how the Unscented Kalman Filter can be applied in a SLAM context with monocular vision. The recently published Inverse Depth Parametrization is used for undelayed single-hypothesis landmark initialization and modelling. The novelty of the presented approach lies in the combination of UKF, Inverse Depth Parametrization and bearing-only SLAM and its application for autonomous airship control and UAV control in general.

Keywords

Kalman filters; SLAM (robots); aerospace robotics; aircraft control; mobile robots; remotely operated vehicles; robot vision; UAV control; autonomous airship control; bearing-only SLAM; inverse depth parametrization; mono-SLAM; monocular vision; undelayed single-hypothesis landmark initialization; unscented Kalman filter; Acceleration; Cameras; Fires; Global Positioning System; Optical receivers; Optical sensors; Remotely operated vehicles; Robots; Simultaneous localization and mapping; Unmanned aerial vehicles; Unscented Kalman Filter; airship; monocular SLAM;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on

Conference_Location

Rome

Print_ISBN

978-1-4244-1569-4

Electronic_ISBN

978-1-4244-1569-4

Type

conf

DOI

10.1109/SSRR.2007.4381265

Filename

4381265