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).


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    Title :

    Robust cooperative visual localization with experimental validation for unmanned aerial vehicles


    Additional title:

    Robuste kooperative visuelle Lokalisierung mit experimenteller Validierung für unbemannte Luftfahrzeuge


    Contributors:


    Publication date :

    2013


    Size :

    19 Seiten, 21 Bilder, 46 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






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