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An integrated virtual environment for feasibility studies and implementation of aerial MonoSLAM
, Article Virtual Reality ; Volume 16, Issue 3 , September , 2012 , Pages 215-232 ; 13594338 (ISSN) ; Malaek, S. M. B ; Sharif University of Technology
2012
Abstract
This work presents a complete framework of an integrated aerial virtual environment (IAVE), which could effectively help implementing MonoSLAM (single-camera simultaneous localization and mapping) on an aerial vehicle. The developed system allows investigating different flight conditions without using any preloaded maps or predefined features. A 3D graphical engine integrated with a full 6 DOF aircraft dynamic simulator together with its trajectory generator completes the package. The 3D engine generates and accumulates real-time images of a general camera installed on the aerial vehicle. We effectively exploit C++ to develop the 3D graphics engine (3DGE) and all its associated visual...