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Solving The SLAM Problem for Unmanned Aerial Vehicles Using Smoothed Estimates
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2010 (English)Report (Other academic)
Abstract [en]

In this paper we present a solution to the simultaneous localization and mapping (SLAM) problem for unmanned aerial vehicles (UAV) using a camera and inertial sensors. A good SLAM solution is an important enabler for autonomous robots. Our approach is based on an optimization based formulation of the problem, which results in a smoother, rather than a filter. The proposed algorithm is evaluated on experimental data and the resultsare compared with accurate ground truth data. The results from this comparisons are encouraging.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2971
Keyword [en]
Simultaneous localization and mapping (SLAM), Unmanned aerial vehicles (UAV), Inertial sensors, Camera
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97746ISRN: LiTH-ISY-R-2971OAI: oai:DiVA.org:liu-97746DiVA: diva2:650679
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-09-22Bibliographically approved

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Sjanic, ZoranSchön, ThomasGustafsson, Fredrik
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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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  • de-DE
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  • en-US
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  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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