Monocular SLAM Position Scale Estimation for Quadrotor Autonomous Navigation

Monocular SLAM Position Scale Estimation for Quadrotor Autonomous Navigation

Monocular Simultaneous Localization and Mapping (SLAM) provides a position estimation with an unknown scale factor. The scale factor depends on the initial conditions of the SLAM algorithm so that it is always different. This paper presents a scale factor estimator based on the Immersion and Invaria...

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Bibliographic Details
Published in:2019 International Conference on Unmanned Aircraft Systems (ICUAS) pp. 1359 - 1364
Main Authors: Nieto-Hernandez, L., Gomez-Casasola, Angel A., Rodriguez-Cortes, H.
Format: Conference Proceeding
Language:English
Published: IEEE 01-06-2019
Subjects:
Cameras
Estimation error
Mathematical model
Numerical models
Numerical simulation
Simultaneous localization and mapping
Online Access:Get full text
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Summary:Monocular Simultaneous Localization and Mapping (SLAM) provides a position estimation with an unknown scale factor. The scale factor depends on the initial conditions of the SLAM algorithm so that it is always different. This paper presents a scale factor estimator based on the Immersion and Invariance technique for quadrotor autonomous navigation. The estimator assumes that the quadrotor's linear velocity, attitude and the applied total thrust are measurable. The estimator performance is validated using numerical simulations and experiments.
ISSN:2575-7296
DOI:10.1109/ICUAS.2019.8797951