TY - GEN
T1 - Development of a SIFT based monocular EKF-SLAM algorithm for a small unmanned aerial vehicle
AU - Suzuki, Taro
AU - Amano, Yoshiharu
AU - Hashizume, Takumi
PY - 2011/1/1
Y1 - 2011/1/1
N2 - This paper describes a simultaneous localization and mapping (SLAM) algorithm using a monocular camera for a small unmanned aerial vehicle (UAV). A small U AV is attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter (EKF) SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on scale-invariant feature transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates U AV position and attitude of the U AV and construct the 3D terrain map.
AB - This paper describes a simultaneous localization and mapping (SLAM) algorithm using a monocular camera for a small unmanned aerial vehicle (UAV). A small U AV is attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter (EKF) SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on scale-invariant feature transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates U AV position and attitude of the U AV and construct the 3D terrain map.
KW - Extended Kalman Filter
KW - SIFT
KW - SLAM
KW - Unmanned Aerial Vehicle
UR - http://www.scopus.com/inward/record.url?scp=81255210490&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=81255210490&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:81255210490
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 1656
EP - 1659
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -