Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the obser...
| Authors: | , , , |
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| Format: | article |
| Publication Date: | 2018 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/117359 |
| Online Access: | https://hdl.handle.net/2117/117359 https://dx.doi.org/10.3390/s18051351 |
| Access Level: | Open access |
| Keyword: | Global Positioning System state estimation unmanned aerial vehicle monocular vision localization mapping observability cooperative Sistema de posicionament global Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Summary: | This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation. |
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