In this article, the authors proposed a robust approach to solve the cooperative airborne VSLAM (visual simultaneous localization and mapping) problem based on the development of a full stereo camera observation model. An adaptive SIFT feature extractor followed by stereo vision constraints fast matching were introduced to construct a large map. Robust C-VSLAM (cooperative VSLAM) is implemented based on the NH∞ filter and compared with the single VSLAM. The proposed C-VSLAM solution was validated using simulation and experimental data and good and very promising results were obtained. Future work will include extending this cooperative strategy in a distributed estimation framework for an experimental setup based on a set of cooperative UAVs (unmanned aerial vehicles).


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust cooperative visual localization with experimental validation for unmanned aerial vehicles


    Weitere Titelangaben:

    Robuste kooperative visuelle Lokalisierung mit experimenteller Validierung für unbemannte Luftfahrzeuge


    Beteiligte:
    Nemra, Abdelkrim (Autor:in) / Aouf, Nabil (Autor:in)


    Erscheinungsdatum :

    2013


    Format / Umfang :

    19 Seiten, 21 Bilder, 46 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch






    Relative Spherical-Visual Localization for Cooperative Unmanned Aerial Systems

    Holter, Steffen / Tsoukalas, Athanasios / Evangeliou, Nikolaos et al. | IEEE | 2021


    Autonomous target detection and localization using cooperative unmanned aerial vehicles

    Yoon, Youngrock / Gruber, Scott / Krakow, Lucas et al. | Tema Archiv | 2009


    Cooperative target localization using heterogeneous unmanned ground and aerial vehicles

    Hager, C. / Zarzhitsky, D. / Kwon, Hyukseong et al. | Tema Archiv | 2010