In this article, we discuss the possibility of integrating image de-blurring techniques in an aerial simultaneous localization and mapping by a single camera (monocular simultaneous localization and mapping (Mono-SLAM)). We use an integrated aerial virtual environment together with a six-degree-of-freedom aircraft flight simulator to show the effectiveness of the approach to generate three-dimensional flight trajectories via integration of image de-blurring in the associated loop of the Mono-SLAM. The objective is to increase the overall performance of a flying mission over an unknown area by means of a vision-only method. The integrated aerial virtual environment produces and collects real-time pictures from a nadir-looking vision sensor mounted on the vehicle. Our MATLAB GUI-based toolbox helps user to investigate an offline Mono-SLAM with a predefined de-blurring method integrated with an estimator which extracts navigational parameters. The system efficient architecture allows effective virtual experiments in a completely unknown environment, without using preloaded maps or predefined features. Simulation outcomes demonstrate the feasibility of navigation of aerial robots in inaccessible environments. Different case studies support the conclusion; nonetheless, we observe a number of nonlinearities from de-blurring filters even for a general aviation aircraft.


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    Titel :

    Integration of image de-blurring in an aerial Mono-SLAM


    Beteiligte:
    Atashgah, MA Amiri (Autor:in) / Gholampour, P (Autor:in) / Malaek, SMB (Autor:in)


    Erscheinungsdatum :

    01.06.2014


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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