Reference : Real-time graph-based SLAM in unknown environments using a small UAV

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Multidisciplinary, general & others
	Focus Areas :	Security, Reliability and Trust
	To cite this reference:	http://hdl.handle.net/10993/33257

Title :	Real-time graph-based SLAM in unknown environments using a small UAV
Language :	English
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)]
Publication date :	2017
Main document title :	2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017
Pages :	1118-1123
Peer reviewed :	Yes
On invitation :	No
Audience :	International
ISBN :	978-1-5090-4495-5
Event name :	2017 International Conference on Unmanned Aircraft Systems (ICUAS)
Event date :	13-06-2017 to 16-06-2017
Event organizer :	icuas association
Event place (city) :	miami, united states of america
Event country :	United states of america
Keywords :	[en] 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 centres :	Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Funders :	Fonds National de la Recherche - FnR
Target :	Researchers ; Professionals ; Students
Permalink :	http://hdl.handle.net/10993/33257
DOI :	10.1109/ICUAS.2017.7991524
Other URL :	http://ieeexplore.ieee.org/document/7991524/
Commentary :	1118-1123
FnR project :	FnR ; FNR10156266 > Arun Annaiyan > CoNav > Collision-Free Navigation Of Small Uavs In Complex Urban Environments Using Predictive Control > 01/03/2015 > 30/09/2017 > 2015

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access real_time_grap_slam_arun_annaiyan.pdf Publisher postprint 2.17 MB View/Open

All documents in ORBi^lu are protected by a user license.

 

University of Luxembourg Library |  Feedback |  Legal notices Site Map