Vision-Based SLAM System for Small UAVs in GPS-Denied Environments
Publication: Journal of Aerospace Engineering
Volume 25, Issue 4
Abstract
Vision-based unmanned aerial vehicle (UAV) control is a core technology in global positioning system (GPS)-denied environments. However, small UAVs have difficulty processing image data in real time because of their limited payload capacity and relatively weak processor. Development of an image-processing system that is suitable for small UAVs is therefore needed. In this paper, an approach for a vision-based simultaneous localization and mapping (SLAM) system for small UAVs is suggested. For real-time localization, a method wherein Kanade-Lucas-Tomasi-based localization and tracking are performed within small UAVs in real time is adopted. At the same time, scale-invariant feature transform–based mapping and more accurate localization are performed at the ground-control station. A vision-based three-dimensional map-building method for small UAVs using a monocular camera is also proposed. The proposed method first extracts straight-line information from images and calculates their equations in three-dimensional space. It then constructs plane information from line information.
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Acknowledgments
This research was supported by the Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education, Science, and Technology (Grant No. 2010-0011851).
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Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 25 • Issue 4 • October 2012
Pages: 519 - 529
Copyright
© 2012 American Society of Civil Engineers.
History
Received: Mar 2, 2011
Accepted: Sep 8, 2011
Published online: Sep 10, 2011
Published in print: Oct 1, 2012
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