Memorias de investigación
Research Publications in journals:
Visual 3-D SLAM from UAVs
Year:2009
Research Areas
  • Artificial intelligence
Information
Abstract
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.
International
Si
JCR
Si
Title
JOURNAL OF INTELLIGENT AND ROBOTIC SYSTEMS
ISBN
0921-0296
Impact factor JCR
0,56
Impact info
Volume
55
10.1007/s10846-008-9304-8
Journal number
4
From page
299
To page
321
Month
ENERO
Ranking
Participants
  • 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
Research Group, Departaments and Institutes related
  • 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