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Proceedings Paper

A novel visual-inertial monocular SLAM
Author(s): Xiaofeng Yue; Wenjuan Zhang; Li Xu; JiangGuo Liu
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Paper Abstract

With the development of sensors and computer vision research community, cameras, which are accurate, compact, wellunderstood and most importantly cheap and ubiquitous today, have gradually been at the center of robot location. Simultaneous localization and mapping (SLAM) using visual features, which is a system getting motion information from image acquisition equipment and rebuild the structure in unknown environment. We provide an analysis of bioinspired flights in insects, employing a novel technique based on SLAM. Then combining visual and inertial measurements to get high accuracy and robustness. we present a novel tightly-coupled Visual-Inertial Simultaneous Localization and Mapping system which get a new attempt to address two challenges which are the initialization problem and the calibration problem. experimental results and analysis show the proposed approach has a more accurate quantitative simulation of insect navigation, which can reach the positioning accuracy of centimeter level.

Paper Details

Date Published: 19 February 2018
PDF: 8 pages
Proc. SPIE 10608, MIPPR 2017: Automatic Target Recognition and Navigation, 106080M (19 February 2018); doi: 10.1117/12.2288360
Show Author Affiliations
Xiaofeng Yue, Huazhong Univ. of Science and Technology (China)
Wenjuan Zhang, National Key Lab. of Science and Technology on Aerospace Intelligence Control (China)
Li Xu, National Key Lab. of Science and Technology on Aerospace Intelligence Control (China)
JiangGuo Liu, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 10608:
MIPPR 2017: Automatic Target Recognition and Navigation
Jianguo Liu; Jayaram K. Udupa; Hanyu Hong, Editor(s)

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