Monocular Vision SLAM for Indoor Aerial Vehicles
This paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy ass...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Electrical and Computer Engineering |
| Online Access: | http://dx.doi.org/10.1155/2013/374165 |
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| _version_ | 1832553994574102528 |
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| author | Koray Çelik Arun K. Somani |
| author_facet | Koray Çelik Arun K. Somani |
| author_sort | Koray Çelik |
| collection | DOAJ |
| description | This paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines. We experimentally validate the proposed algorithms on a fully self-contained microaerial vehicle (MAV) with sophisticated on-board image processing and SLAM capabilities. Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options. Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy. |
| format | Article |
| id | doaj-art-16f1729c41154bb0976f341a0b91f99d |
| institution | Kabale University |
| issn | 2090-0147 2090-0155 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Electrical and Computer Engineering |
| spelling | doaj-art-16f1729c41154bb0976f341a0b91f99d2025-02-03T05:52:36ZengWileyJournal of Electrical and Computer Engineering2090-01472090-01552013-01-01201310.1155/2013/374165374165Monocular Vision SLAM for Indoor Aerial VehiclesKoray Çelik0Arun K. Somani1Department of Electrical and Computer Engineering, Iowa State University, Ames, IA 50010, USADepartment of Electrical and Computer Engineering, Iowa State University, Ames, IA 50010, USAThis paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines. We experimentally validate the proposed algorithms on a fully self-contained microaerial vehicle (MAV) with sophisticated on-board image processing and SLAM capabilities. Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options. Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy.http://dx.doi.org/10.1155/2013/374165 |
| spellingShingle | Koray Çelik Arun K. Somani Monocular Vision SLAM for Indoor Aerial Vehicles Journal of Electrical and Computer Engineering |
| title | Monocular Vision SLAM for Indoor Aerial Vehicles |
| title_full | Monocular Vision SLAM for Indoor Aerial Vehicles |
| title_fullStr | Monocular Vision SLAM for Indoor Aerial Vehicles |
| title_full_unstemmed | Monocular Vision SLAM for Indoor Aerial Vehicles |
| title_short | Monocular Vision SLAM for Indoor Aerial Vehicles |
| title_sort | monocular vision slam for indoor aerial vehicles |
| url | http://dx.doi.org/10.1155/2013/374165 |
| work_keys_str_mv | AT koraycelik monocularvisionslamforindooraerialvehicles AT arunksomani monocularvisionslamforindooraerialvehicles |