Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F16%3A00242515" target="_blank" >RIV/68407700:21730/16:00242515 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21230/16:00242515

Result on the web

<a href="http://link.springer.com/article/10.1007%2Fs10846-016-0358-8" target="_blank" >http://link.springer.com/article/10.1007%2Fs10846-016-0358-8</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-016-0358-8" target="_blank" >10.1007/s10846-016-0358-8</a>

Result language

angličtina

Original language name

Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs

Original language description

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.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

—

Volume of the periodical

84

Issue of the periodical within the volume

1

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

19

Pages from-to

351-369

UT code for WoS article

000390027900022

EID of the result in the Scopus database

2-s2.0-84961116993