Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
JCR del ISI	Si
Título de la revista	JOURNAL OF INTELLIGENT AND ROBOTIC SYSTEMS
ISSN	0921-0296
Factor de impacto JCR	0,56
Información de impacto
Volumen	55
DOI	10.1007/s10846-008-9304-8
Número de revista	4
Desde la página	299
Hasta la página	321
Mes	ENERO
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Esta actividad pertenece a memorias de investigación

• Participante: Juan Fernando Correa
• Autor: Jorge Artieda Trigueros (UPM)
• Autor: Jose Maria Sebastian Zuñiga (UPM)
• Autor: Pascual Campoy Cervera (UPM)
• Autor: Ivan Fernando Mondragon Bernal (UPM)
• Autor: Carol Viviana Martinez Luna (UPM)
• Autor: Miguel Ángel Olivares Mendez (UPM)

• Creador: Grupo de Investigación: Visión por computador
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Electrónica e Informática Industrial