Capabilities of autonomous locating are becoming an important trend in the development of flapping wing aircraft. The flapping wing aircraft's load is limited. Therefore, the monocular vision SLAM with fusion of IMU for locating has become a hot spot. In this article, the representative VINS-mono system is improved. Compressed sensing is used to reduce the dimension of feature descriptors, which reduces feature matching by 2/3. The validity of the method is verified by data set experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of Compressed Sensing in Mono Slam System with Fusion of IMU


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / He, Yao (author) / Yuan, Mei (author) / Zhao, Longfei (author) / Dong, Shaopeng (author)


    Publication date :

    2021-10-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Unified Fusion Approach with Application to SLAM

    Xinde Li / Xinhan Huang / Min Wang | BASE | 2008

    Free access

    MCS-SLAM: Multi-Cues Multi-Sensors Fusion SLAM

    Frosi, Matteo / Matteucci, Matteo | IEEE | 2022


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

    Atashgah, MA Amiri | Online Contents | 2014


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

    Atashgah, MA Amiri / Gholampour, P / Malaek, SMB | SAGE Publications | 2014


    Research on compressed EKF based SLAM algorithm for unmanned underwater vehicle

    Wang Hongjian, / Li Cun, / Lv Hongli, et al. | IEEE | 2012