Active Asteroid-SLAM

Nakath, David; Clemens, Joachim; Rachuy, Carsten

doi:10.1007/s10846-019-01103-0

Cited by 8 publications

(1 citation statement)

References 56 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The system has to cope with the objects as they appear in the scene without any prior information about their expected position. In these cases, a map can be created by simultaneously estimating the poses of the camera and the structure of the environment, which is known as SLAM (Simultaneous Localization and Mapping) [2] technique in the literature. Although this method significantly improves pose estimation accuracy, as it takes into account the correlation between the observed points and camera exposure, the computational cost is quite high [3].…”

Section: Introductionmentioning

confidence: 99%

Visual aid for unmanned aircraft navigation in unknown environments

Uzun

Söken

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

This study presents a visual-aided inertial navigation technique that can be used for unmanned aircraft in unknown environments. An angular and linear velocity estimation algorithm, which is based on the solution of the Wahba’s problem, is developed using sequential images for visual odometry. It is possible that the visual sensors do not receive continuous measurements throughout the mission, for example, when a sufficient number of features cannot be detected by the camera. Considering that a closed loop Extended Kalman Filter algorithm is designed for integration of visual odometry measurements with the inertial measurements to have accurate pose estimation throughout the flight.

show abstract

Section: Introductionmentioning

confidence: 99%