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Robust Visual Simultaneous Localization and Mapping for MAV Using Smooth Variable Structure Filter

  • Conference paper
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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

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Abstract

The work presented in this paper is a part of research work on autonomous navigation for Micro Aerial Vehicles (MAVs). Simultaneous Localization and Mapping (SLAM) is crucial for any task of MAV navigation. The limited payload of the MAV makes the single camera as best solution for SLAM problem. In this paper the Large Scale Dense SLAM (LSD-SLAM) pose is fused with inertial data using Smooth Variable Structure Filter which is a robust filter. Our MAV-SVSF-SLAM application is developed under Linux using Robotic Operating System (ROS) so that the code can be distributed in different nodes, to be used in other applications of guidance, control and navigation. The proposed approach is validated first in simulation, then experimentally using the Bebop Quadrotor in indoor and outdoor environment and good results have been obtained.

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Author information

Authors and Affiliations

  1. Ecole Militaire Polytechnique, Algiers, Algeria

    Abdelkrim Nemra

  2. Department of Electronics, Alcalá University, Alcalá, Spain

    Luis M. Bergasa, Elena López, Rafael Barea, Alejandro Gómez & Álvaro Saltos

Authors
  1. Abdelkrim Nemra
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  2. Luis M. Bergasa
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  3. Elena López
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  4. Rafael Barea
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  5. Alejandro Gómez
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  6. Álvaro Saltos
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Corresponding author

Correspondence to Elena López .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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© 2016 Springer International Publishing Switzerland

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Nemra, A., Bergasa, L.M., López, E., Barea, R., Gómez, A., Saltos, Á. (2016). Robust Visual Simultaneous Localization and Mapping for MAV Using Smooth Variable Structure Filter. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_43

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_43

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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