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Monocular Visual SLAM Based on a Cooperative UAV-Target System.

Juan-Carlos Trujillo¹, Rodrigo Munguia¹, Sarquis Urzua¹

¹Department of Computer Science, CUCEI, University of Guadalajara, Guadalajara 44430, Mexico.

Sensors (Basel, Switzerland)

|June 26, 2020

Summary

This summary is machine-generated.

This study introduces a monocular SLAM system for Unmanned Aerial Vehicles (UAVs) to track cooperative targets in GPS-denied environments. The approach enhances state estimation and flight formation control using altimeter data and target-based depth estimation.

Keywords:

cooperative target flight formation control monocular SLAM observability state estimation unmanned aerial vehicle

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Area of Science:

Robotics
Computer Vision
Control Systems

Background:

Autonomous Unmanned Aerial Vehicles (UAVs) require self-location and environmental perception.
Global Positioning System (GPS) is unreliable in indoor or cluttered environments.
Monocular Simultaneous Localization and Mapping (SLAM) offers an alternative for GPS-denied navigation.

Purpose of the Study:

To develop a monocular SLAM approach for cooperative UAV-Target systems in GPS-denied environments.
To address state estimation for UAV and target (position, velocity) and map (landmarks).
To enable stable flight formation control between a UAV and a cooperative target.

Main Methods:

Implemented a monocular SLAM system utilizing onboard camera data.
Integrated altimeter measurements to enhance observability.
Developed a novel technique for estimating visual landmark depth using the cooperative target.
Designed a control system for stable flight formation, validated with Lyapunov theory.

Main Results:

The proposed system effectively estimates the states of the UAV, target, and map.
Incorporating altitude measurements improved system observability.
The novel depth estimation technique leverages the cooperative target's information.
Experimental and simulation results demonstrate good performance of the proposed scheme.

Conclusions:

The monocular SLAM approach provides a viable solution for cooperative UAV navigation in GPS-denied scenarios.
The integration of altimeter data and target-based depth estimation enhances system robustness.
The developed control system ensures stable flight formation, crucial for cooperative missions.