TY - GEN
T1 - Combined laser and vision-aided inertial navigation for an indoor unmanned aerial vehicle
AU - Magree, Daniel
AU - Johnson, Eric
PY - 2014/1/1
Y1 - 2014/1/1
N2 - As unmanned aerial vehicles are used in more environments, flexible navigation strategies are required to ensure safe and reliable operation. Operation in the presence of degraded or denied GPS signal is critical in many environments, particularly indoors, in urban canyons, and hostile areas. Two techniques, laser-based simultaneous localization and mapping (SLAM) and monocular visual SLAM, in conjunction with inertial navigation, have attracted considerable attention in the research community. This paper presents an integrated navigation system combining both visual SLAM and laser SLAM with an EKF-based inertial navigation system. The monocular visual SLAM system has fully correlated vehicle and feature states. The laser SLAM system is based on a Monte Carlo scan-to-map matching, and leverages the visual data to reduce ambiguities in the pose matching. The system is validated in full 6 degree of freedom simulation, and in flight test. A key feature of the work is that the system is validated with a controller in the navigation loop.
AB - As unmanned aerial vehicles are used in more environments, flexible navigation strategies are required to ensure safe and reliable operation. Operation in the presence of degraded or denied GPS signal is critical in many environments, particularly indoors, in urban canyons, and hostile areas. Two techniques, laser-based simultaneous localization and mapping (SLAM) and monocular visual SLAM, in conjunction with inertial navigation, have attracted considerable attention in the research community. This paper presents an integrated navigation system combining both visual SLAM and laser SLAM with an EKF-based inertial navigation system. The monocular visual SLAM system has fully correlated vehicle and feature states. The laser SLAM system is based on a Monte Carlo scan-to-map matching, and leverages the visual data to reduce ambiguities in the pose matching. The system is validated in full 6 degree of freedom simulation, and in flight test. A key feature of the work is that the system is validated with a controller in the navigation loop.
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U2 - 10.1109/ACC.2014.6858995
DO - 10.1109/ACC.2014.6858995
M3 - Conference contribution
AN - SCOPUS:84905695555
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 1900
EP - 1905
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -