2D Simultaneous Localization And Mapping for Micro Air Vehicles

Adrien Angeli (1, 2) , David Filliat (3) , Stéphane Doncieux (2) , Jean-Arcady Meyer (2)

1 DGA/CTA/DT/GIP - CEP Arcueil
2 Animatlab
3 UEI - Unité d'Électronique et d'informatique

The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the e ectiveness of our approach with videos taken from a heading-down camera mounted on diff erent MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of the camera's radial distortion coefficient are presented.

Domains: Computer Science [cs]; Robotics [cs.RO]

Adrien Angeli, David Filliat, Stéphane Doncieux, Jean-Arcady Meyer. 2D Simultaneous Localization And Mapping for Micro Air Vehicles. European Micro Aerial Vehicles (EMAV 2006), Jul 2006, Braunschweig, Germany. ⟨hal-00655111⟩