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Determination of Map Scale and Initialization of Landmarks for Aerial Robot Monocular Visual Localization and Mapping

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SENSORS AND MATERIALS 2016年第6期28卷 667-674页

作者： Wang, Yin-Tien Sun, Chung-Hsun Chen, Ting-Wei Tamkang Univ Dept Mech & Electromech Engn New Taipei 251 Taiwan

This study investigates the issues of visual-sensor-assisted aerial robot navigation. The major objectives are to give an aerial robot the capabilities of localization and mapping in global positioning system (GPS) denied environments. When an aerial robot navigates in a GPS-denied environment, the visual sensor could provide measurements for estimation of the robot's state and environmental mapping. Considering the carrying capacity of an aerial robot, a single camera is used in this study and the image is transmitted to a PC-based controller for image processing using a radio frequency module. An extended Kalman filter is used as the state estimator to recursively predict and update the states of the aerial robot and the environmental landmarks. The contributions of this study are twofold: First, an ultrasonic sensor is used to provide one-dimensional distance measurements and solve the map scale determination problem of monocular vision. Second, the image depth is represented using the inverse depth parameterization method and initialization of the image features is achieved by a non-delayed procedure. The software program of the robot navigation system was developed in a PC-based controller. The navigation system integrates the sensor inputs, image processing, and state estimation. The resultant system was used to perform the tasks of simultaneous localization and mapping for aerial robots.

关键词： visual simultaneous localization and mapping (vSLAM) image depth parameterization data association map management

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Data Association of Aerial Robot Monocular Simultaneous Localization and Mapping

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SENSORS AND MATERIALS 2016年第9期28卷 1013-1021页

作者： Wang, Yin-Tien Sun, Chung-Hsun Chen, Ting-Wei Chi, Chen-Tung Tamkang Univ Dept Mech & Electromech Engn 151 Ying Chuan Rd New Taipei 25137 Taiwan Taipei City Univ Sci & Technol Dept Mech Engn 2 Xueyuan Rd Taipei 112 Taiwan

This paper presents an algorithm for data association for the visual navigation of aerial robots. The major objective is to provide the aerial robot with the capabilities of localization and mapping in global positioning system (GPS) denied environments. The visual sensor system could measure information for robot state estimation and environmental mapping as the aerial robot navigates in a GPS-denied environment. Only one single camera was used to reduce the load on the aerial robot. The captured image was transmitted to a personal computer for image processing using a radio frequency transmitter. In this study, an efficient data association method based on fuzzy rules was developed to determine the robust landmarks for robot mapping. An ultrasonic sensor was designed to provide distance measurements and to solve the map scale determination problem of monocular vision. The software program of the robot navigation system was developed on a windows-based personal computer. The navigation system integrated the visual sensor, the algorithm for data association, and the state estimator. The integrated system was used to carry out simultaneous localization and mapping for aerial robots.

关键词： visual simultaneous localization and mapping (vSLAM) image depth parameterization data association map management

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