Published May 2008
| Published
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Mono-vision corner SLAM for indoor navigation
- Creators
- Çelik, Koray
-
Chung, Soon-Jo
- Somani, Arun
Chicago
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Abstract
We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied manmade environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based path-finding through a conventional maze of corridors in a large building.
Additional Information
© 2008 IEEE. Date of Conference: 18-20 May 2008. Date Added to IEEE Xplore: 27 June 2008.Attached Files
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Additional details
- Eprint ID
- 72256
- Resolver ID
- CaltechAUTHORS:20161122-143023693
- Created
-
2016-11-22Created from EPrint's datestamp field
- Updated
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2021-11-11Created from EPrint's last_modified field
- Caltech groups
- GALCIT
- Series Name
- International Conference on Electro Information Technology