Monocular visual SLAM for small UAVs in GPS-denied environments

This paper presents a monocular visual simultaneous localization and mapping (SLAM) system for a small unmanned aerial vehicle (UAV) in GPS-denied environments. A single camera is used to measure the motion of the vehicle and detect features (landmarks) for the map building. The SLAM estimates the positions of the UAV and the features by an extended Kalman… CONTINUE READING