Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle

Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper describes a simultaneous localization and mapping (SLAM) algorithm using a monocular camera for a small unmanned aerial vehicle (UAV). A small U AV is attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter (EKF) SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on scale-invariant feature transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates U AV position and attitude of the U AV and construct the 3D terrain map.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1656-1659
Number of pages4
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo
Duration: 2011 Sep 132011 Sep 18

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CityTokyo
Period11/9/1311/9/18

Fingerprint

Extended Kalman filters
Unmanned aerial vehicles (UAV)
Cameras
Triangulation
Antennas
Experiments

Keywords

  • Extended Kalman Filter
  • SIFT
  • SLAM
  • Unmanned Aerial Vehicle

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Suzuki, T., Amano, Y., & Hashizume, T. (2011). Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle. In Proceedings of the SICE Annual Conference (pp. 1656-1659). [6060231]

Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle. / Suzuki, Taro; Amano, Yoshiharu; Hashizume, Takumi.

Proceedings of the SICE Annual Conference. 2011. p. 1656-1659 6060231.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Suzuki, T, Amano, Y & Hashizume, T 2011, Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle. in Proceedings of the SICE Annual Conference., 6060231, pp. 1656-1659, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, 11/9/13.
Suzuki T, Amano Y, Hashizume T. Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle. In Proceedings of the SICE Annual Conference. 2011. p. 1656-1659. 6060231
Suzuki, Taro ; Amano, Yoshiharu ; Hashizume, Takumi. / Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle. Proceedings of the SICE Annual Conference. 2011. pp. 1656-1659
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