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

Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

研究成果: Conference contribution

8 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版者Society of Instrument and Control Engineers (SICE)
ページ1656-1659
ページ数4
ISBN(印刷物)9784907764395
出版物ステータスPublished - 2011 1 1
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
継続期間: 2011 9 132011 9 18

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Japan
Tokyo
期間11/9/1311/9/18

    フィンガープリント

ASJC Scopus subject areas

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

これを引用

Suzuki, T., Amano, Y., & Hashizume, T. (2011). Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle. : SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 1656-1659). [6060231] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).