Solving The SLAM Problem for Unmanned Aerial Vehicles Using Smoothed Estimates
2010 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2971
Simultaneous localization and mapping (SLAM), Unmanned aerial vehicles (UAV), Inertial sensors, Camera
IdentifiersURN: urn:nbn:se:liu:diva-97746ISRN: LiTH-ISY-R-2971OAI: oai:DiVA.org:liu-97746DiVA: diva2:650679