Work

2D Simultaneous Localization And Mapping for Micro Air Vehicles

Year: 2006

Type: article

Abstract: The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the e ectiveness of our approach with videos taken from a heading-down camera mounted on diff erent MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of the camera's radial distortion coefficient are presented.

Authors: Adrien Angeli, David Filliat, Stéphane Doncieux, Jean-Arcady Meyer

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2257706296

FWCI: 3.193

Cites: 19

Cited by: 24

Related to: 10