elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Improving Monocular SLAM with Altimeter Hints for Fixed-Wing Aircraft Navigation and Emergency Landing

Andert, Franz and Mejias Alvarez, Luis (2015) Improving Monocular SLAM with Altimeter Hints for Fixed-Wing Aircraft Navigation and Emergency Landing. In: Proceedings of the 2015 International Conference on Unmanned Aircraft Systems, pp. 1008-1016. The 2015 International Conference on Unmanned Aircraft Systems, 9.-12. Juni 2015, Denver, CO, USA.

Full text not available from this repository.

Official URL: http://www.uasconferences.com/

Abstract

This paper presents a visual Simultaneous Localization And Mapping (SLAM) method for temporary satellite dropout navigation for an unpowered fixed-wing aircraft. It is designed for flight altitudes beyond typical stereo ranges, but within the range of distance measurement sensors. The proposed visual SLAM method consists of a common localization step with monocular camera resectioning, and a mapping step which incorporates radar altimeter data for absolute scale estimation. With that, there will be no scale drift of the map and of the estimated flight path. The method does not require simplifications like known landmarks and it is thus suitable for unknown and nearly arbitrary terrain. The method is tested with sensor datasets from a manned Cessna 172 aircraft. With 5% absolute scale error from radar measurements causing approximately 2-6% accumulation error over the flown distance, stable positioning is achieved over several minutes of flight time. The main limitations are flight altitudes above the radar range of 750 m where the monocular method will suffer from scale drift, and, depending on the flight speed, flights below 50 m where image processing gets difficult with a downwards-looking camera due to the high optical flow rates and the low image overlap.

Item URL in elib:https://elib.dlr.de/96554/
Document Type:Conference or Workshop Item (Speech)
Title:Improving Monocular SLAM with Altimeter Hints for Fixed-Wing Aircraft Navigation and Emergency Landing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Andert, Franzfranz.andert (at) dlr.deUNSPECIFIED
Mejias Alvarez, Luisluis.mejias (at) qut.edu.auUNSPECIFIED
Date:12 June 2015
Journal or Publication Title:Proceedings of the 2015 International Conference on Unmanned Aircraft Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1008-1016
Status:Published
Keywords:Optical Navigation, SLAM, Fixed-Wing Aircraft, Sensor Fusion
Event Title:The 2015 International Conference on Unmanned Aircraft Systems
Event Location:Denver, CO, USA
Event Type:international Conference
Event Dates:9.-12. Juni 2015
Organizer:The ICUAS Association, Inc.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:17 Jun 2015 10:31
Last Modified:17 Jun 2015 10:31

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.