Building a Robust Implementation of Bearing-only Inertial SLAM for a UAV

@article{Bryson2007BuildingAR,
  title={Building a Robust Implementation of Bearing-only Inertial SLAM for a UAV},
  author={Mitch Bryson and Salah Sukkarieh},
  journal={J. Field Robotics},
  year={2007},
  volume={24},
  pages={113-143}
}
This paper presents the on-going design and implementation of a robust inertial sensor based Simultaneous Localisation And Mapping (SLAM) algorithm for an Unmanned Aerial Vehicle (UAV) using bearing-only observations. A single colour vision camera is used to observe the terrain from which image points corresponding to features in the environment are extracted. The SLAM algorithm estimates the complete 6-DoF motion of the UAV along with the three-dimensional position of the features in the… CONTINUE READING
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