Airborne Smoothing and Mapping using Vision and Inertial Sensors (bibtex)
by M. Bryson, M. Johnson-Roberson, S. Sukkarieh
Abstract:
This paper presents a framework for integrating sensor information from an inertial measuring unit (IMU), Global Positioning System (GPS) receiver and monocular vision camera mounted to a low-flying unmanned aerial vehicle (UAV) for building large- scale terrain reconstructions. Our method seeks to integrate all of the sensor information using a statistically optimal non-linear least squares smoothing algorithm to estimate vehicle poses simultaneously to a dense point feature map of the terrain. A visualisation of the terrain structure is then created by building a textured mesh-surface from the estimated point features. The resulting terrain reconstruction can be used for a range of environmental monitoring missions such as invasive plant detection and biomass mapping.
Reference:
Airborne Smoothing and Mapping using Vision and Inertial Sensors (M. Bryson, M. Johnson-Roberson, S. Sukkarieh), In IEEE International Conference on Robotics and Automation, 2009.
Bibtex Entry:
@inproceedings{Bryson2009,
	Abstract = {This paper presents a framework for integrating sensor information
       from an inertial measuring unit (IMU), Global Positioning
       System (GPS) receiver and monocular vision camera mounted to a
       low-flying unmanned aerial vehicle (UAV) for building large-
       scale terrain reconstructions. Our method seeks to integrate
       all of the sensor information using a statistically optimal
       non-linear least squares smoothing algorithm to estimate
       vehicle poses simultaneously to a dense point feature map of
       the terrain. A visualisation of the terrain structure is then
       created by building a textured mesh-surface from the estimated
       point features. The resulting terrain reconstruction can be
       used for a range of environmental monitoring missions such as
       invasive plant detection and biomass mapping.},
	Author = {Bryson, M. and M. Johnson-Roberson and Sukkarieh, S.},
	Booktitle = {{IEEE} International Conference on Robotics and Automation},
	Date-Added = {2013-08-17 13:32:03 +0000},
	Date-Modified = {2013-08-17 13:32:34 +0000},
	Issn = {1050-4729},
	Keywords = {conf},
	Title = {{Airborne Smoothing and Mapping using Vision and Inertial Sensors}},
	Year = {2009},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/ROBOT.2009.5152678}}
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