Name
Abstract | ||
|---|---|---|
Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We present a novel localization method which can be applied in an environment having orthogonal sets of equally spaced lines to form a grid. With the help of a monocular camera and using the properties of the grid-lines below, the MAV is localized inside each sub-cell of the grid and consequently over the entire grid for a relative localization over the grid. We demonstrate the effectiveness of our system onboard a customized MAV platform. The experimental results show that our method provides accurate 5-DoF localization over grid lines and it can be performed in real-time. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/IPIN.2017.8115889 | 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN) |
Keywords | DocType | Volume |
Grid,indoor,MAV,visual,monocular,localization | Conference | abs/1709.04931 |
ISSN | ISBN | Citations |
2162-7347 | 978-1-5090-6300-0 | 0 |
PageRank | References | Authors |
0.34 | 8 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Manash Pratim Das | 1 | 0 | 0.34 |
| Gaurav Gardi | 2 | 0 | 0.34 |
| Jayanta Mukhopadhyay | 3 | 72 | 26.05 |