Journal of Intelligent & Robotic Systems

, Volume 84, Issue 1–4, pp 351–369

Exploration and Mapping Technique Suited for Visual-features Based Localization of MAVs

  • Jan Chudoba
  • Miroslav Kulich
  • Martin Saska
  • Tomáš Báča
  • Libor Přeučil
Article

DOI: 10.1007/s10846-016-0358-8

Cite this article as:
Chudoba, J., Kulich, M., Saska, M. et al. J Intell Robot Syst (2016) 84: 351. doi:10.1007/s10846-016-0358-8

Abstract

An approach for long term localization, stabilization, and navigation of micro-aerial vehicles (MAVs) in unknown environment is presented in this paper. The proposed method relies strictly on onboard sensors of employed MAVs and does not require any external positioning system. The core of the method consists in extraction of information from pictures consequently captured using a camera carried by the particular MAV. Visual features are obtained from images of the surface under the MAV, and stored into a map that is represented by these features. The position of the MAV is then obtained through matching with previously stored features. An important part of the proposed system is a novel approach for exploration and mapping of the workspace of robots. This method enables efficient exploring of the unknown environment, while keeping the iteratively built map of features consistent. The proposed algorithm is suitable for mapping of surfaces, both outdoor and indoor, with various density of the image features. The sufficient precision and long term persistence of the method allows its utilization for stabilization of large MAV groups that work in formations with small relative distances between particular vehicles. Numerous experiments with quadrotor helicopters and various numerical simulations have been realized for verification of the entire system and its components.

Keywords

MAVs Visual-features MAV localization MAV stabilization Exploration Mapping 

Funding information

Funder NameGrant NumberFunding Note
Technologická Agentura České Republiky
  • TE01020197
Grantová Agentura České Republiky (CZ)
  • P103-12/P756
CTU grant
  • SGS15/157/OHK3/2T/13

Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  • Jan Chudoba
    • 1
  • Miroslav Kulich
    • 2
  • Martin Saska
    • 1
  • Tomáš Báča
    • 1
  • Libor Přeučil
    • 2
  1. 1.Department of Cybernetics, Faculty of Electrical EngineeringCzech Technical University in PraguePragueCzech Republic
  2. 2.Czech Institute of Informatics, Robotics, and CyberneticsCzech Technical University in PraguePragueCzech Republic

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