.png){kind=icon}
返回
Visual 3-D SLAM from UAVs
.png){kind=icon}
PRE
AI
DOI：10.1007/s10846-008-9304-8.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs.
Keyword:
Computer vision
Visual SLAM
Unmanned aerial vehicles (UAV)
3D SLAM
期刊
J
IF:
2.8
论文数:
3.9K
被引数:
6.9K
机构
引用论文
13938 A new acne keloidalis nuchae classification system to guide surgical and laser treatments
PREAI
分享收藏分享收藏Artefactual Nanoparticle Activation of the Inflammasome Platform:
in Vitro
Evidence with a Nano-Formed Calcium Phosphate.png)
Nanomedicine
OAAI
NanomedicineIF0
OAAI分享收藏
查看更多内容