Graduation colloquium
Seong Hun Lee graduation colloquium
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Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation Abstract We propose a novel method to deal with the scale ambiguity in monocular SLAM based on the control stability properties of rotorcraft systems. Our method estimates the absolute scale of the SLAM system by adaptively inducing and detecting vertical oscillations in hover. Unlike conventional […]
| Date: | On | |
| Time: | 15:00 (UTC 00:00) | |
| Location: | TU Delft Faculteit Luchtvaart- en Ruimtevaarttechniek, Kluyverweg 1, Delft, Nederland |
Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation
Abstract
We propose a novel method to deal with the scale ambiguity in monocular SLAM based on the control stability properties of rotorcraft systems. Our method estimates the absolute scale of the SLAM system by adaptively inducing and detecting vertical oscillations in hover. Unlike conventional monocular approaches, no additional metric sensors are used for scale estimation. We evaluate the proposed method through simulation and real-world experiments. We also demonstrate that our system can enable a low-cost quadrotor MAV to perform autonomous navigation in unknown indoor
TU Delft Faculteit Luchtvaart- en Ruimtevaarttechniek, Kluyverweg 1, Delft, Nederland