Investigation of methods for simultaneous localization and mapping using vision sensors

Gregory F. Ivey, Eric Johnson

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

14 Scopus citations

Abstract

Autonomous vehicles with the ability to simultaneously identify obstacles' or targets' position at the same time as estimating their own position have been long sought after. This paper investigates an approach to solving this problem also known as simultaneous localization and mapping or SLAM. Demonstration of the viability of the SLAM problem applied to the unmanned aerial vehicle (UAV) using monocular vision sensors is taken in steps: estimating unknown targets with known vehicle states; estimating vehicle states with known targets; and finally estimating the vehicle's states and the targets' states simultaneously. The targets' states included position, orientation, and area. The vehicle states included position, velocity, orientation, accelerometer biases, and gyroscope biases. Simulations showed that estimating the vehicle states using known targets was possible. Stable solutions to the complete SLAM problem were simulated proving it possible to solve the SLAM problem for a UAV using monocular vision sensors.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages3977-3990
Number of pages14
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume6

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Ivey, G. F., & Johnson, E. (2006). Investigation of methods for simultaneous localization and mapping using vision sensors. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (pp. 3977-3990). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006; Vol. 6). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-6578