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Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments.

Juan-Carlos Trujillo1, Rodrigo Munguia2, Edmundo Guerra3

  • 1Department of Computer Science, CUCEI, University of Guadalajara, Guadalajara 44430, Mexico. juancarlos_max@hotmail.com.

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|April 28, 2018
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Summary

This study introduces a cooperative monocular-SLAM system for multi-unmanned aerial vehicle (UAV) formations in GPS-denied areas. It enhances system observability using relative distance measurements from onboard cameras, improving position and orientation estimation.

Keywords:
cooperativelocalizationmappingmonocular visionobservabilitystate estimationunmanned aerial vehicle

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Area of Science:

  • Robotics
  • Computer Vision
  • Navigation Systems

Background:

  • Simultaneous Localization and Mapping (SLAM) is crucial for autonomous navigation.
  • Multi-unmanned aerial vehicle (UAV) systems require robust localization, especially in GPS-denied environments.
  • Monocular vision-based SLAM presents challenges in scale ambiguity and observability.

Purpose of the Study:

  • To develop and validate a cooperative monocular-based SLAM approach for multi-UAV systems.
  • To enhance the observability of multi-UAV systems using inter-vehicle visual measurements.
  • To demonstrate improved localization accuracy in GPS-denied scenarios.

Main Methods:

  • A cooperative SLAM framework utilizing monocular cameras on UAVs.
  • Integration of relative distance measurements between UAVs, derived from visual data.
  • Nonlinear observability analysis for theoretical validation.
  • Extensive computer simulations to evaluate performance.

Main Results:

  • The proposed cooperative approach significantly improves system observability compared to other visual SLAM configurations.
  • The system demonstrates robust position and orientation estimation for UAVs in formation.
  • Visual information and relative distance measurements enhance localization accuracy.

Conclusions:

  • Cooperative monocular-based SLAM is a viable solution for multi-UAV navigation in GPS-denied environments.
  • The integration of relative visual measurements enhances the observability and performance of the system.
  • The approach provides accurate state estimation for coordinated aerial vehicle operations.