Using natural features for vision based navigation of an indoor-VTOL MAV

Aerospace Science and Technology

Volumn 13, Issue 7, 2009, Pages 349-357

  Schlaile, Christian ^a   Meister, Oliver ^a   Frietsch, Natalie ^a   Keßler, Christoph ^a   Wendel, Jan ^a   Trommer, Gert F ^a  

^a UNIVERSITY OF KARLSRUHE   (Germany)

Author keywords

Kalman filter; Micro aerial vehicle; Sparse bundle adjustment; Vision based navigation

Indexed keywords

BUNDLE ADJUSTMENTS; COMPLEMENTARY-SENSORS; FEATURE POINT; IMAGE COORDINATES; IMAGE SEQUENCE; INTEGRATED NAVIGATION SYSTEMS; INVERSE-DEPTH; MEMS GYROSCOPE; MEMS SENSORS; MICRO AERIAL VEHICLE; NATURAL FEATURES; NAVIGATION SOLUTION; RELATIVE ROTATION; ROTOR HELICOPTERS; SCENE STRUCTURE; SPARSE BUNDLE ADJUSTMENT; VISION BASED NAVIGATION;

AEROSPACE VEHICLES; COMPUTER VISION; CONTROL THEORY; HELICOPTER ROTORS; KALMAN FILTERS; MEMS; MICROELECTROMECHANICAL DEVICES; MICROSENSORS; NAVIGATION SYSTEMS;

AIR NAVIGATION;

EID: 70350566614     PISSN: 12709638     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.ast.2009.09.001     Document Type: Article

References (15)

1. E. Altug, J. Ostrowski, C. Taylor, Quadrotor control using dual camera visual feedback, in: IEEE International Conference on Robotics and Automation, vol. 3, 2003, pp. 4294-4299
2. O. Amidi, An autonomous vision-guided helicopter, Ph.D. thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 1996
3. J.-Y. Bouguet, Pyramidal implementation of the Lucas Kanade feature tracker, Tech. Rep., Intel Corporation, Microprocessor Research Labs, 2000
4. Devernay F., and Faugeras O.D. Straight lines have to be straight: Automatic calibration and removal of distortion from scenes of structured environments. Machine Vision and Applications 1 (2001) 14-24
5. Foxlin E., and Naimark L. VIS-Tracker: A wearable vision-inertial self-tracker. IEEE Proceedings of Virtual Reality (2003) 199-206
6. C. Harris, M. Stephens, A combined corner and edge detector, in: 4th Alvey Conference, Manchester, UK, 1988, pp. 147-151
7. Hartley R., and Zisserman A. Multiple View Geometry in Computer Vision. 2nd edition (2003), Cambridge Univ. Press
8. Levenberg K. A method for the solution of certain non-linear problems in least squares. Quarterly Journal of Applied Mathematics II 2 (1944) 164-168
9. Marquardt D.W. An algorithm for least-squares estimation of nonlinear parameters. SIAM Journal on Applied Mathematics 11 2 (1963) 431-441 10.1137/0111030
10. J. Montiel, J. Civera, A. Davison, Unified inverse depth parametrization for monocular SLAM, in: Robotics: Science and Systems, 2006
11. C. Schlaile, J. Wendel, G.F. Trommer, Stabilizing a four-rotor helicopter using computer vision, in: Proceedings of the 1st European Micro Air Vehicle Conference and Flight Competition (EMAV2004), Braunschweig, Germany, 2004
12. Sünderhauf N., Konolige K., Lacroix S., and Protzel P. Visual odometry using sparse bundle adjustment on an autonomous outdoor vehicle. In: Levi P., Schanz M., Lafrenz R., and Avrutin V. (Eds). Tagungsband Autonome Mobile Systeme, Reihe Informatik aktuell (2005), Springer 157-163
13. Titterton D., and Weston J. Strapdown Inertial Navigation Technology (1997), Peter Peregrinus Ltd./IEE, London
14. J. Wendel, C. Schlaile, G.F. Trommer, Integration of low-cost MEMS inertial sensors and GPS for unmanned aerial vehicles, in: Deutscher Luft- und Raumfahrtkongress, Dresden, 2004
15. S. Winkler, H.-W. Schulz, M. Buschmann, T. Kordes, P. Vörsmann, Improving low-cost GPS/MEMS-based INS integration for autonomous MAV navigation by visual aiding, in: Proceedings of the ION GNSS 2004, Long Beach, CA, 2004