State Estimation for Vision-based Simultaneous Localization and Mapping of Unmanned Vehicles

Download or read book State Estimation for Vision-based Simultaneous Localization and Mapping of Unmanned Vehicles written by Baro Hyun and published by . This book was released on 2008 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vision-based simultaneous localization and mapping algorithm is developed to assist automated navigation. The proposed algorithm is particularly desired in a situation where a priori information of the environment is unavailable, such as landing on unknown planetary surface. Vision-sensor, IMU and laser altimeter are considered as the onboard sensor suits. For vision-sensor, instead of using standard pinhole camera model, colinearity model was employed for state estimation purpose. A nonlinear batch estimation and extended Kalman filter were formulated to test the performance of the algorithm, and validating simulation results are presented.