Visual 3-D SLAM from UAVs

Jorge Artieda; José M. Sebastian; Pascual Campoy; Juan F. Correa; Iván F. Mondragón; Carol Martínez; Miguel Olivares

doi:10.1007/s10846-008-9304-8

Visual 3-D SLAM from UAVs

Jorge Artieda
, José M. Sebastian
, Pascual Campoy
, Juan F. Correa
, Iván F. Mondragón
, Carol Martínez
, Miguel Olivares

Computer Vision Group U.P.M.

Research output: Contribution to journal › Article › peer-review

136 Scopus citations

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.

Original language	English
Pages (from-to)	299-321
Number of pages	23
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	55
Issue number	4-5
DOIs	https://doi.org/10.1007/s10846-008-9304-8
State	Published - Aug 2009
Externally published	Yes

Keywords

3D SLAM
Computer vision
Unmanned aerial vehicles (UAV)
Visual SLAM

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10.1007/s10846-008-9304-8

Cite this

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title = "Visual 3-D SLAM from UAVs",

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.",

keywords = "3D SLAM, Computer vision, Unmanned aerial vehicles (UAV), Visual SLAM",

author = "Jorge Artieda and Sebastian, \{Jos{\'e} M.\} and Pascual Campoy and Correa, \{Juan F.\} and Mondrag{\'o}n, \{Iv{\'a}n F.\} and Carol Mart{\'i}nez and Miguel Olivares",

note = "Funding Information: Acknowledgements The work reported in this paper is the consecution of several research stages at the Computer Vision Group—Universidad Polit{\'e}cnica de Madrid. The authors would like to thank Jorge Leon for supporting with the flight trials and I.A. Institute—CSIC for collaborating in the flights consecution. This work has been sponsored by the Spanish Science and Technology Ministry under the grant CICYT DPI2007-66156 by Comunidad Aut{\'o}noma de Madrid under the grant SLAM visual 3D.",

year = "2009",

month = aug,

doi = "10.1007/s10846-008-9304-8",

language = "English",

volume = "55",

pages = "299--321",

journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",

issn = "0921-0296",

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AU - Artieda, Jorge

AU - Sebastian, José M.

AU - Campoy, Pascual

AU - Correa, Juan F.

AU - Mondragón, Iván F.

AU - Martínez, Carol

AU - Olivares, Miguel

N1 - Funding Information: Acknowledgements The work reported in this paper is the consecution of several research stages at the Computer Vision Group—Universidad Politécnica de Madrid. The authors would like to thank Jorge Leon for supporting with the flight trials and I.A. Institute—CSIC for collaborating in the flights consecution. This work has been sponsored by the Spanish Science and Technology Ministry under the grant CICYT DPI2007-66156 by Comunidad Autónoma de Madrid under the grant SLAM visual 3D.

PY - 2009/8

Y1 - 2009/8

N2 - 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.

AB - 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.

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KW - Computer vision

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KW - Visual SLAM

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JF - Journal of Intelligent and Robotic Systems: Theory and Applications

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ER -

Visual 3-D SLAM from UAVs

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Keywords

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