Artieda Trigueros, Jorge and Sebastian y Zuñiga, Jose Maria and Campoy Cervera, Pascual and Correa Caicedo, Juan Fernando and Mondragon Bernal, Ivan Fernando and Martínez Luna, Carol Viviana and Olivares Méndez, Miguel Ángel (2009) Visual 3-D SLAM from UAVs. Journal of Intelligent and Robotic Systems, 55 (4-5). 299 - 321. ISSN 0921-0296
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| Item Type: | Article | ||||||||||||||||
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| Authors/Creators: |
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| Title: | Visual 3-D SLAM from UAVs | ||||||||||||||||
| Publisher: | Springer Verlag | ||||||||||||||||
| Journal/Publication Title: | Journal of Intelligent and Robotic Systems | ||||||||||||||||
| Date: | August 2009 | ||||||||||||||||
| Volume: | 55 | ||||||||||||||||
| Number: | 4-5 | ||||||||||||||||
| Department: | Automation, Electronic Engineering and Industrial Computers | ||||||||||||||||
| Faculty: | E.T.S.I. Industrial (UPM) | ||||||||||||||||
| Creative Commons licenses: | Recognition - No derivative works - No commercial | ||||||||||||||||
| Item ID: | 5338 | ||||||||||||||||
| Subjects: | Computer Science |
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Official URL: http://www.springerlink.com/content/x11474w95n73uj81/
Abstract
The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs.
| Item Type: | Article |
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| Uncontrolled Keywords: | Computer vision - Visual SLAM - Unmanned aerial vehicles (UAV) - 3D SLAM |
| Subjects: | Computer Science |
| Código ID: | 5338 |
| Depositado Por: | Memoria Investigacion |
| Depositado el: | 02 Dec 2010 12:25 |
| Last Modified: | 15 Feb 2011 11:59 |
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