Localization and Mapping of Flying Robot in GPS-Denied Environments

Author(s):

K.A Drishya , THEJUS ENGINEERING COLLEGE; Divya K. S, THEJUS ENGINEERING COLLEGE; Sakthiprasad .K .M, THEJUS ENGINEERING COLLEGE; Anjalykrishnan, THEJUS ENGINEERING COLLEGE

Keywords:

Mapping, vision-controlled, odometry, Localization, Hexacopter

Abstract:

Generally the search and rescue missions in the case of monitoring operations, natural and man-made disasters mainly rely on manned aerial vehicles. But these methods were highly risky for human pilot or rescuers because these included high navigation precision and long operation times, These unmanned aerial vehicles were used only in GPS prone areas based on an inbuilt map. These drawbacks are overcome in this proposed paper by designing a vision-controlled hexacopter which provides vision-controlled flying in GPS-denied environments. It consists of two stages: The onboard stage runs the visual odometry algorithm and the off-board stage runs the localization & mapping algorithm.

Other Details:

Manuscript Id	:	IJSTEV1I10156
Published in	:	Volume : 1, Issue : 10
Publication Date	:	01/05/2015
Page(s)	:	294-298

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