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Real-time graph-based SLAM in unknown environments using a small UAV
Annaiyan, Arun; Olivares Mendez, Miguel Angel; Voos, Holger
2017In 2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017
Peer reviewed
 

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Keywords :
SLAM (robots);aerospace control;autonomous aerial vehicles;graph theory;image sensors;mobile robots;optimisation;robot vision;stereo image processing;telerobotics;SLAM;autonomous navigation;cluttered environments;graph nodes;loop closure detection;online mapping;open field environments;optimization algorithm;primary sensor;real-time graph;small UAV;small unmanned aerial vehicles;stereo camera;unknown environments;unknown outdoor environments;Cameras;Real-time systems; ;Robot vision systems;Simultaneous localization and mapping;Three-dimensional displays;Unmanned aerial vehicles
Abstract :
[en] Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection for online mapping of unknown outdoor environments using a small UAV. Here, we used an onboard front facing stereo camera as the primary sensor. The data extracted by the cameras are used by the graph-based slam algorithm to estimate the position and create the graph-nodes and construct the map. To avoid multiple detections of one object as different objects and to identify re-visited locations, a loop closure detection is applied with optimization algorithm using the g2o toolbox to minimize the error. Furthermore, 3D occupancy map is used to represent the environment. This technique is used to save memory and computational time for the online processing. Real experiments are conducted in outdoor cluttered and open field environments.The experiment results show that our presented approach works under real time constraints, with an average time to process the nodes of the 3D map is 17.79ms.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Annaiyan, Arun ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Olivares Mendez, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
External co-authors :
no
Language :
English
Title :
Real-time graph-based SLAM in unknown environments using a small UAV
Publication date :
2017
Event name :
2017 International Conference on Unmanned Aircraft Systems (ICUAS)
Event organizer :
icuas association
Event place :
miami, united states of america, United States
Event date :
13-06-2017 to 16-06-2017
Audience :
International
Main work title :
2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017
ISBN/EAN :
978-1-5090-4495-5
Pages :
1118-1123
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust
FnR Project :
FNR10156266 - Collision-free Navigation Of Small Uavs In Complex Urban Environments Using Predictive Control, 2015 (01/03/2015-30/09/2018) - Arun Annaiyan
Funders :
FNR - Fonds National de la Recherche [LU]
Commentary :
1118-1123
Available on ORBilu :
since 27 November 2017

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