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      • Department of Electrical and Electronics Engineering
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      İnsansız hava araçları için eşanlı konumlandırma ve haritalama

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      Author
      Kök, Mehmet
      Barshan, Billur
      Date
      2008-04
      Source Title
      IEEE 16th Signal Processing, Communication and Applications Conference, SIU 2008
      Publisher
      IEEE
      Pages
      [1] - [4]
      Language
      Turkish
      Type
      Conference Paper
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      Abstract
      Sabit yükseklikte uçtuğu varsayılan insansız Hava Araçları ( İHA) için görü-tabanlı bir Eşanlı Konumlandırma ve Haritalama (EKVH) algoritması sunulmaktadır. Araç üzerindeki kameradan elde edilen görüntülerin öznitelikleri kullanılarak farklı yer işaretleri saptanmaktadır. Yer işaretlerine Genişletilmiş¸ Kalman Süzgeci (GKS) uygulanmış ve EKVH probleminin çözümü için bazı benzetim sonuçları sunulmuştur.
       
      In this work, a 2D vision-based simultaneous localization and mapping algorithm is developed for an unmanned aerial vehicle flying at a constant altitude. We use visual features of images obtained from an on-board camera to identify different landmarks. Using these landmarks we apply the well-known extended Kalman filter to the SLAM problem and present some simulation results.
      Keywords
      2d visions
      Constant altitudes
      Simulation results
      Simultaneous localization and mapping algorithms
      Simultaneous localization and mappings
      SLAM problems
      Unmanned aerial vehicle]
      Visual features
      Cellular radio systems
      Conformal mapping
      Control theory
      Military applications
      Signal processing
      Unmanned aerial vehicles (UAV)
      Unmanned vehicles
      Permalink
      http://hdl.handle.net/11693/26829
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/SIU.2008.4632709
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      • Department of Electrical and Electronics Engineering 3524
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