On Visual Real Time Mapping for Unmanned Aerial Vehicles

@inproceedings{Steffen2008OnVR,
  title={On Visual Real Time Mapping for Unmanned Aerial Vehicles},
  author={Richard Steffen and Wolfgang F{\"o}rstner},
  year={2008}
}
This paper addresses the challenge of a real-time capable vision system in the task of trajectory and surface reconstruction by aerial image sequences. The goal is to present the design, methods and strategies of a real-time capable vision system solving the mapping task for secure navigation of small UAVs with a single camera. This includes the estimation process, map representation, initialization processes, loop closing detection and exploration strategies. The estimation process is based on… CONTINUE READING
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