Overview on simultaneous localization and mapping for uninhabited aerial vehicle vision

Author

Wang Xi-Bin ; Zhao Guo-Rong ; Pan Shuang

Author_Institution

Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China

fYear

2011

fDate

22-24 July 2011

Firstpage

3913

Lastpage

3918

Abstract

The latest progress is surveyed on simultaneous localization and mapping for uninhabited aerial vehicle vision. After pointing out the challenge in face of UAV vision SLAM, the state equation and measurement equation is built and the overview of landmark initialization technology is given in detail. Summarize the research development of applying EKF, SEIF and FastSLAM to SLAM, and indicate respective advantage and shortage. At last the direction is explored in research and development of UAV vision SLAM.

Keywords

SLAM (robots); aircraft; mobile robots; position control; remotely operated vehicles; robot vision; EKF; FastSLAM; SEIF; landmark initialization technology; measurement equation; simultaneous localization and mapping; state equation; uninhabited aerial vehicle vision; Automation; Buildings; Conferences; Navigation; Simultaneous localization and mapping; Landmark Initialization; Machine Vision; Simultaneous Localization and Mapping; Sparse Extended Information Filter; Uninhabited Aerial Vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000556