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Consider the two characteristics: (1) Simultaneous localization and mapping (SLAM) is a popular algorithm for autonomous underwater vehicle, but visual SLAM is significantly influenced by weak illumination. (2)Geomagnetism-aided navigation and gravity-aided navigation are equally important methods in the field of vehicle navigation, but both are affected heavily by time-varying noises and terrain...
This paper deals with 3D Range-Only (RO) Simultaneous Localization and Mapping (SLAM), where the UAS integrates range measurements to a number of beacons in the environment. In the recent years RO-SLAM has attracted significant interest, it is suitable for non line-of-sight conditions and/or bad lighting, being superior to visual SLAM in some problems. However, some issues constrain its applicability...
This paper presents a visual Simultaneous Localization And Mapping (SLAM) method for temporary satellite dropout navigation for an unpowered fixed-wing aircraft. It is designed for flight altitudes beyond typical stereo ranges, but within the range of distance measurement sensors. The proposed visual SLAM method consists of a common localization step with monocular camera resectioning, and a mapping...
Visual odometry, especially using a forward-looking camera only, can be challenging: It is doomed to fail from time to time and will inevitably drift in the long run. We accept this fact and present methods to cope with and correct the effects for an autonomous MAV using an RGBD camera as its main sensor. We propose correcting drift and failure in visual odometry by combining its pose estimates with...
In this paper, we present an monocular vision-based autonomous navigation system for a commercial quadcoptor. The quadcoptor communicates with a ground-based laptop via wireless connection. The video stream of the front camera on the drone and the navigation data measured on-board are sent to the ground station and then processed by a vision-based SLAM system. In order to handle motion blur and frame...
This paper presents a novel small unmanned aerial system which can operate independently and navigate using visual sensors. The basis of the system is a 600 gram quadrotor platform with sonar, inertial sensors and a camera. All processing is performed onboard the vehicle on a lightweight and powerful computer. Vehicle navigation is provided by a two part system. A Bierman Thornton extended Kalman...
Precise trajectory tracking control for a quadcopter aerial vehicle using only a monocular camera and inertial sensing for localization is introduced in this work. Two different control laws based on linear behavior are proposed to follow desired trajectories. The algorithms are validated in real-time in the low-cost Parrot AR.Drone vehicle. Time-scale separation of the traslational and rotational...
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