Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs
Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Chudoba, Jan [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2016 |
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| Schlagwörter: |
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| Anmerkung: |
© Springer Science+Business Media Dordrecht 2016 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of intelligent & robotic systems - Springer Netherlands, 1988, 84(2016), 1-4 vom: 15. März, Seite 351-369 |
|---|---|
| Übergeordnetes Werk: |
volume:84 ; year:2016 ; number:1-4 ; day:15 ; month:03 ; pages:351-369 |
| Links: |
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| DOI / URN: |
10.1007/s10846-016-0358-8 |
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OLC2057182398 |
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| 520 | |a Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. | ||
| 650 | 4 | |a MAVs | |
| 650 | 4 | |a Visual-features | |
| 650 | 4 | |a MAV localization | |
| 650 | 4 | |a MAV stabilization | |
| 650 | 4 | |a Exploration | |
| 650 | 4 | |a Mapping | |
| 700 | 1 | |a Kulich, Miroslav |4 aut | |
| 700 | 1 | |a Saska, Martin |4 aut | |
| 700 | 1 | |a Báča, Tomáš |4 aut | |
| 700 | 1 | |a Přeučil, Libor |4 aut | |
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10.1007/s10846-016-0358-8 doi (DE-627)OLC2057182398 (DE-He213)s10846-016-0358-8-p DE-627 ger DE-627 rakwb eng 004 VZ Chudoba, Jan verfasserin aut Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2016 Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. MAVs Visual-features MAV localization MAV stabilization Exploration Mapping Kulich, Miroslav aut Saska, Martin aut Báča, Tomáš aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 84(2016), 1-4 vom: 15. März, Seite 351-369 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:84 year:2016 number:1-4 day:15 month:03 pages:351-369 https://doi.org/10.1007/s10846-016-0358-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 84 2016 1-4 15 03 351-369 |
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10.1007/s10846-016-0358-8 doi (DE-627)OLC2057182398 (DE-He213)s10846-016-0358-8-p DE-627 ger DE-627 rakwb eng 004 VZ Chudoba, Jan verfasserin aut Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2016 Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. MAVs Visual-features MAV localization MAV stabilization Exploration Mapping Kulich, Miroslav aut Saska, Martin aut Báča, Tomáš aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 84(2016), 1-4 vom: 15. März, Seite 351-369 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:84 year:2016 number:1-4 day:15 month:03 pages:351-369 https://doi.org/10.1007/s10846-016-0358-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 84 2016 1-4 15 03 351-369 |
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10.1007/s10846-016-0358-8 doi (DE-627)OLC2057182398 (DE-He213)s10846-016-0358-8-p DE-627 ger DE-627 rakwb eng 004 VZ Chudoba, Jan verfasserin aut Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2016 Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. MAVs Visual-features MAV localization MAV stabilization Exploration Mapping Kulich, Miroslav aut Saska, Martin aut Báča, Tomáš aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 84(2016), 1-4 vom: 15. März, Seite 351-369 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:84 year:2016 number:1-4 day:15 month:03 pages:351-369 https://doi.org/10.1007/s10846-016-0358-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 84 2016 1-4 15 03 351-369 |
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10.1007/s10846-016-0358-8 doi (DE-627)OLC2057182398 (DE-He213)s10846-016-0358-8-p DE-627 ger DE-627 rakwb eng 004 VZ Chudoba, Jan verfasserin aut Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2016 Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. MAVs Visual-features MAV localization MAV stabilization Exploration Mapping Kulich, Miroslav aut Saska, Martin aut Báča, Tomáš aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 84(2016), 1-4 vom: 15. März, Seite 351-369 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:84 year:2016 number:1-4 day:15 month:03 pages:351-369 https://doi.org/10.1007/s10846-016-0358-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 84 2016 1-4 15 03 351-369 |
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10.1007/s10846-016-0358-8 doi (DE-627)OLC2057182398 (DE-He213)s10846-016-0358-8-p DE-627 ger DE-627 rakwb eng 004 VZ Chudoba, Jan verfasserin aut Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2016 Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. MAVs Visual-features MAV localization MAV stabilization Exploration Mapping Kulich, Miroslav aut Saska, Martin aut Báča, Tomáš aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 84(2016), 1-4 vom: 15. März, Seite 351-369 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:84 year:2016 number:1-4 day:15 month:03 pages:351-369 https://doi.org/10.1007/s10846-016-0358-8 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 84 2016 1-4 15 03 351-369 |
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Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs |
| abstract |
Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. © Springer Science+Business Media Dordrecht 2016 |
| abstractGer |
Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. © Springer Science+Business Media Dordrecht 2016 |
| abstract_unstemmed |
Abstract An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components. © Springer Science+Business Media Dordrecht 2016 |
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| title_short |
Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs |
| url |
https://doi.org/10.1007/s10846-016-0358-8 |
| remote_bool |
false |
| author2 |
Kulich, Miroslav Saska, Martin Báča, Tomáš Přeučil, Libor |
| author2Str |
Kulich, Miroslav Saska, Martin Báča, Tomáš Přeučil, Libor |
| ppnlink |
130464864 |
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| doi_str |
10.1007/s10846-016-0358-8 |
| up_date |
2024-07-03T14:10:36.208Z |
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