Airborne simultaneous localisation and map building

• DOI: 10.1109/robot.2003.1241629
• Publication Date: 2004-03-02T02:26:50Z
• Authors: Jong-Hyuk Kim; S. Sukkarieh
• Keywords: Observability; Units of measurement; Aerial Survey; Flight test

This paper presents results of the application simultaneous localisation and map building (SLAM) for an uninhabited aerial vehicle (UAV). Single vision camera inertial measurement unit (IMU) are installed in a UAV platform. The data taken from flight test is used to run SLAM algorithm. Results show that both uncertainty corrected even though model system observation highly non-linear. results, however, also indicate further work observability relationship between drift number location landmarks need be analysed given dynamic nature system.