Parallel tracking and mapping for controlling VTOL airframe
Summary: This work presents a vision based system for navigation on a vertical takeoff and landing Unmanned Aerial Vehicle (UAV). This is a monocular vision based, Simultaneous Localization And Mapping (SLAM) system, which measures the position and orientation of the camera and builds a map of the environment using a video stream from a single camera. This is different from past SLAM solutions on UAV which use sensors that measure depth, like LIDAR, stereoscopic cameras or depth cameras. Solution presented in this paper extends and significantly modifies a recent open-source algorithm that solves SLAM problem using approach fundamentally different from a traditional approach. Proposed modifications provide the position measurements necessary for the navigation solution on a UAV. The main contributions of this work include: (1) extension of the map building algorithm to enable it to be used realistically while controlling a UAV and simultaneously building the map; (2) improved performance of the SLAM algorithm for lower camera frame rates; and (3) the first known demonstration of a monocular SLAM algorithm successfully controlling a UAV while simultaneously building the map. This work demonstrates that a fully autonomous UAV that uses monocular vision for navigation is feasible.
- Tracking control for VTOL aircraft with disabled IMUs
- Tracking control for a velocity-sensorless VTOL aircraft with delayed outputs
- Robust vision-based tracking control of VTOL unmanned aerial vehicles
- Simple Tracking Controllers for Autonomous VTOL Aircraft With Bounded Inputs
- Image-based tracking control of VTOL unmanned aerial vehicles
- Robust fault tolerant tracking controller design for a VTOL aircraft
- Hybrid tracking control of fixed wing aerial vehicles
- Global tracking control of a vtol aircraft without velocity measurements
- Coordination control of quadrotor VTOL aircraft in three-dimensional space
- Global trajectory tracking control of VTOL-UAVs without linear velocity measurements
- Monocular camera based trajectory tracking of 3-DOF helicopter
- Priority altitude PVTOL aircraft control via immersion and invariance
- Path following for the PVTOL aircraft
- Visual 3-D SLAM from uavs
- Unmanned aerial vehicle localization based on monocular vision and online mosaicking
- Robust airborne 3D visual simultaneous localization and mapping with observability and consistency analysis
- Vision-based unmanned aerial vehicle navigation using geo-referenced information
This page was built for publication: Parallel tracking and mapping for controlling VTOL airframe
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q763130)
