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An integrated virtual environment for feasibility studies and implementation of aerial MonoSLAM

Amiri Atashgah, M. A ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.1007/s10055-011-0197-7
  3. Publisher: 2012
  4. Abstract:
  5. 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 effects, including different types of lighting, climate conditions, and moving objects. The existing 3DGE exploits the so-called Frenet Adapted Frames (FAF) with constrained angular velocities that is very effective in motion modeling of both ground and aerial moving objects. An in-house-developed MATLAB GUI puts into service the offline MonoSLAM system, which is very user friendly. The current version of IAVE effectively employs the so-called Inverse Depth Parameterization notions for features' depth estimation in monocular SLAM, where different case studies show its dependable results for low-cost aerial navigation of a general aviation low-speed aircraft
  6. Keywords:
  7. 3D graphics engine ; General aviation ; MonoSLAM ; Virtual environment ; 3D engine ; 3D graphics ; Aerial navigation ; Aerial vehicle ; Aircraft dynamics ; Climate condition ; Depth Estimation ; Feasibility studies ; Flight conditions ; Integrated virtual environment ; Inverse-depth ; Monocular SLAM ; Motion modeling ; Moving objects ; Offline ; Real-time images ; Simultaneous localization and mapping ; Single cameras ; Trajectory generator ; User friendly ; Visual effects ; Air navigation ; Cameras ; Mathematical techniques ; Robotics ; Virtual reality ; Three dimensional
  8. Source: Virtual Reality ; Volume 16, Issue 3 , September , 2012 , Pages 215-232 ; 13594338 (ISSN)
  9. URL: http://link.springer.com/article/10.1007%2Fs10055-011-0197-7