Visual 3-D SLAM from UAVs

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", v. 55 (n. 4-5); pp. 299-321. ISSN 0921-0296.


Title: Visual 3-D SLAM from UAVs
  • Artieda Trigueros, Jorge
  • Sebastian y Zuñiga, Jose Maria
  • Campoy Cervera, Pascual
  • Correa Caicedo, Juan Fernando
  • Mondragon Bernal, Ivan Fernando
  • Martínez Luna, Carol Viviana
  • Olivares Méndez, Miguel Ángel
Item Type: Article
Título de Revista/Publicación: Journal of Intelligent and Robotic Systems
Date: August 2009
ISSN: 0921-0296
Volume: 55
Freetext Keywords: Computer vision - Visual SLAM - Unmanned aerial vehicles (UAV) - 3D SLAM
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

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Item ID: 5338
DC Identifier:
OAI Identifier:
DOI: 10.1007/s10846-008-9304-8
Official URL:
Deposited by: Memoria Investigacion
Deposited on: 02 Dec 2010 11:25
Last Modified: 03 Nov 2016 07:34
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