Skip to main content
SpringerLink
Log in

Visual SLAM with a RGB-D Camera on a Quadrotor UAV Using on-Board Processing

  • Conference paper
  • First Online:
Advances in Computational Intelligence (IWANN 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10306))

Included in the following conference series:

Abstract

In this article, we present a high accuracy system for real-time localization and mapping using a RGB-D camera. With the use the RGB-D sensor Microsoft Kinect and the small and powerful computer Intel Stick Core M3 Processor, our system can run the computation and sensing required for SLAM on-board the UAV, removing the dependence on unreliable wireless communication. We use visual odometry, loop closure and graph optimization to achieve this purpose. Our approach is able to perform accurate and efficient on-board SLAM by analyzing data and maps generated on several tests of the system.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Aguilar, W.G., Verónica, C., José, P.: Obstacle avoidance based-visual navigation for micro aerial vehicles. Electronics 6(1), 10 (2017)

    Article  Google Scholar 

  2. Aguilar, W.G., Morales, S.: 3D environment mapping using the kinect V2 and path planning based on RRT algorithms. Electronics 5(4), 70 (2016)

    Article  Google Scholar 

  3. Cabras, P., Rosell, J., Pérez, A., Aguilar, W.G., Rosell, A.: Haptic-based navigation for the virtual bronchoscopy. In: 18th IFAC World Congress, Milano, Italy (2011)

    Google Scholar 

  4. Aguilar, W.G., Angulo, C., Costa, R., Molina, L.: Control autónomo de cuadricópteros para seguimiento de trayectorias. In: IX Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2014)

    Google Scholar 

  5. Huang, A.S., Bachrach, A., Henry, P., Krainin, M., Maturana, D., Fox, D., Roy, N.: Visual odometry and mapping for autonomous flight using an RGB-D camera. In: International Symposium on Robotics Research (ISRR) (2011)

    Google Scholar 

  6. Mur-Artal, R., Montiel, J., Tardo, J.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147–1163 (2015)

    Article  Google Scholar 

  7. Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment — a modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) IWVA 1999. LNCS, vol. 1883, pp. 298–372. Springer, Heidelberg (2000). doi:10.1007/3-540-44480-7_21

    Chapter  Google Scholar 

  8. Engel, J., Schöps, T., Cremers, D.: LSD-SLAM: large-scale direct monocular SLAM. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds.) ECCV 2014. LNCS, vol. 8690, pp. 834–849. Springer, Cham (2014). doi:10.1007/978-3-319-10605-2_54

    Google Scholar 

  9. Kohlbrecher, S., von Stryk, O., Meyer, J., Klingauf, U.: A flexible and scalable SLAM system with full 3D motion estimation. In: IEEE International Symposium on Safety, Security, and Rescue Robotics (2011)

    Google Scholar 

  10. Whelan, T., Kaess, M., Leonard, J., McDonald, J.: Deformation based loop closure for large scale dense RGB-D SLAM. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2013)

    Google Scholar 

  11. Nister, D., Naroditsky, O., Bergen, J.: Visual odometry. In: Computer Vision and Pattern Recognition, pp. 652–659 (2004)

    Google Scholar 

  12. Konolige, K., Agrawal, M., Sola, J.: Large-scale visual odometry for rough terrain. In: International Symposium Robotics Research (2007)

    Google Scholar 

  13. Kerl, C., Sturm, J., Cremers, D.: Dense visual slam for RGB-D cameras. In: Proceedings of the International Conference on Intelligent Robot Systems (IROS) (2013)

    Google Scholar 

  14. Michaud, M., Labbe, F.: Appearance-based loop closure detection for online large-scale and long-term operation. IEEE Trans. Robot. 29(3), 734–745 (2013)

    Article  Google Scholar 

  15. Michaud, M., Labbe, F.: Online global loop closure detection for large-scale multi-session graph-based SLAM. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2661–2666 (2014)

    Google Scholar 

  16. Stühmer, J., Gumhold, S., Cremers, D.: Real-time dense geometry from a handheld camera. In: Goesele, M., Roth, S., Kuijper, A., Schiele, B., Schindler, K. (eds.) DAGM 2010. LNCS, vol. 6376, pp. 11–20. Springer, Heidelberg (2010). doi:10.1007/978-3-642-15986-2_2

    Chapter  Google Scholar 

  17. Aguilar, W.G., Angulo, C.: Estabilización de vídeo en micro vehículos aéreos y su aplicación en la detección de caras. In: IX Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2014)

    Google Scholar 

  18. Aguilar, W.G., Angulo, C.: Estabilización robusta de vídeo basada en diferencia de nivel de gris. In: VIII Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2013)

    Google Scholar 

  19. Aguilar, W.G., Angulo, C.: Compensación y aprendizaje de efectos generados en la imagen durante el desplazamiento de un robot. In: X Simposio CEA de Ingeniería de Control, Barcelona, Spain (2012)

    Google Scholar 

  20. Aguilar, W.G., Angulo, C.: Compensación de los efectos generados en la imagen por el control de navegación del robot Aibo ERS 7. In: VII Congreso de Ciencia y Tecnología ESPE, Sangolquí, Ecuador (2012)

    Google Scholar 

  21. Thrun, S.: Robotic mapping: a survey. In: Lakemeyer, G., Neberl, B. (eds.) Exploring Artificial Intelligence in the New Millennium. Morgan Kaufmann, San Francisco (2003)

    Google Scholar 

  22. Grisetti, G., Grzonka, S., Stachniss, C., Pfaff, P., Burgard, W.: Efficient estimation of accurate maximum likelihood maps in 3D. In: Proceedings of the International Conference on Intelligent Robots and Systems (IROS) (2007)

    Google Scholar 

  23. Dellaert, F.: Square root SAM. In: Proceedings of Robotics: Science and Systems (RSS), pp. 177–184 (2005)

    Google Scholar 

  24. Kaess, M., Ranganathan, A., Dellaert, F.: iSAM: incremental smoothing and mapping. IEEE Trans. Robot. 24(6), 1365–1378 (2008)

    Article  Google Scholar 

  25. Jin, H., Favaro, P., Soatto, S.: Real-time 3-D motion and structure of point features: front-end system for vision-based control and interaction. In: IEEE Conference on Computer Vision and Pattern Recognition (CVPR) (2000)

    Google Scholar 

  26. Murray, G., Klein, D.: Parallel tracking and mapping for small AR workspaces. In: Proceedings of IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR) (2007)

    Google Scholar 

  27. Strasdat, H., Montiel, J.M., Davison, A.: Scale drift-aware large scale monocular SLAM. In: Proceedings of Robotics: Science and Systems (2010)

    Google Scholar 

  28. Aguilar, W.G., Angulo, C.: Real-time model-based video stabilization for microaerial vehicles. Neural Process. Lett. 43(2), 459–477 (2016)

    Article  Google Scholar 

  29. Aguilar, W.G., Angulo, C.: Real-time video stabilization without phantom movements for micro aerial vehicles. EURASIP J. Image Video Process. 1, 1–13 (2014)

    Google Scholar 

  30. Aguilar, W.G., Angulo, C.: Robust video stabilization based on motion intention for low-cost micro aerial vehicles. In: 11th International Multi-Conference on Systems, Signals & Devices (SSD), Barcelona, Spain (2014)

    Google Scholar 

  31. Zisserman, J., Sivic, A.: Video Google: a text retrieval approach to object matching in videos. In: Proceedings of 9th International Conference on Computer Vision, pp. 1470–1478 (2003)

    Google Scholar 

  32. Botterill, T., Mills, S., Green, R.: Bag-of-words-driven, single-camera simultaneous localization and mapping. J. Field Robot. 28(2), 204–226 (2011)

    Article  Google Scholar 

  33. Konolige, K., Bowman, J., Chen, J., Mihelich, P., Calonder, M., Lepetit, V., Fua, P.: View-based maps. Int. J. Robot. Res. 29(8), 941–957 (2010)

    Article  Google Scholar 

  34. Christensen, H.I., Folkesson, J.: Closing the loop with graphical SLAM. IEEE Trans. Robot. 23(4), 731–741 (2007)

    Article  Google Scholar 

  35. Johannsson, H., Kaess, M., Fallon, M., Leonard, J.J.: Temporally scalable visual SLAM using a reduced pose graph. In: RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments (2012)

    Google Scholar 

  36. Montemerlo, M., Thrun, S., Koller, D., Wegbreit, B.: FastSLAM: a factored solution to the simultaneous localization and mapping problem. In: Proceeding of the National Conference on Artificial Intelligence (AAAI) (2012)

    Google Scholar 

  37. Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with Rao-Blackwellized particle filters. IEEE Trans. Robot. (T-RO) 23, 34–46 (2007)

    Article  Google Scholar 

  38. Weiss, S., Scaramuzza, D., Siegwart, R.: Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments. J. Field Robot. 28(6), 854–874 (2011)

    Article  Google Scholar 

  39. Tardos, R., Mur-Artal, J.D.: Visual-inertial monocular SLAM with map reuse. IEEE Robot. Autom. Lett. 2, 796–803 (2016)

    Google Scholar 

  40. Engelhard, N., Endres, F., Hess, J., Sturm, J., Burgard, W.: Realtime 3D visual SLAM with a hand-held RGB-D camera. In: RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum (2011)

    Google Scholar 

  41. Heng, L., Meier, L., Tanskanen, P., Fraundorfer, F., Pollefeys, M.: Autonomous obstacle avoidance and maneuvering on a vision-guided MAV using on-board processing. In: Proceedings of ICRA, pp. 2472–2477 (2011)

    Google Scholar 

  42. Fraundorfer, F., Heng, L., Honegger, D., Lee, G., Meier, L., Tanskanen, P., Pollefeys, M.: Vision-based autonomous mapping and exploration using a quadrotor MAV. In: Intelligent Robots and Systems (IROS) (2012)

    Google Scholar 

  43. Audras, C., Comport, A., Meilland, M., Rives, P.: Real-time dense appearance-based SLAM for RGB-D sensors. In: Australasian Conference on Robotics and Automation (2011)

    Google Scholar 

  44. Bolles, M.A., Fischler, R.C.: Random sample consensus: a paradigm for model fitting with apphcatlons to image analysis and automated cartography. Commun. ACM 24, 381–395 (1981)

    Article  Google Scholar 

Download references

Acknowledgement

This work is part of the projects 2016-PIC-024 and 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.

Author information

Authors and Affiliations

  1. Dep. Seguridad y Defensa, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar

  2. Dep. Eléctrica y Electrónica, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano & Alex Limaico

  3. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano & Alex Limaico

  4. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Wilbert G. Aguilar
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Guillermo A. Rodríguez
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Leandro Álvarez
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Sebastián Sandoval
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Fernando Quisaguano
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Alex Limaico
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. Universidad de Granada, Granada, Spain

    Ignacio Rojas

  2. University of Malaga, Malaga, Spain

    Gonzalo Joya

  3. Polytechnic University of Catalonia, Vilanova i la Geltrú, Barcelona, Spain

    Andreu Catala

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A. (2017). Visual SLAM with a RGB-D Camera on a Quadrotor UAV Using on-Board Processing. In: Rojas, I., Joya, G., Catala, A. (eds) Advances in Computational Intelligence. IWANN 2017. Lecture Notes in Computer Science(), vol 10306. Springer, Cham. https://doi.org/10.1007/978-3-319-59147-6_51

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-59147-6_51

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59146-9

  • Online ISBN: 978-3-319-59147-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation