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Journal of Electrical and Computer Engineering
Volume 2013, Article ID 374165, 15 pages
Research Article

Monocular Vision SLAM for Indoor Aerial Vehicles

Department of Electrical and Computer Engineering, Iowa State University, Ames, IA 50010, USA

Received 14 October 2012; Accepted 23 January 2013

Academic Editor: Jorge Dias

Copyright © 2013 Koray Çelik and Arun K. Somani. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Supplementary Material

SV6_hallway.wmv: This video demonstrates out autonomous electric UAV navigating and mapping a hallway using a monocular camera and the algorithm(s) proposed in the paper and time varying altitude. The camera is visible in the front (30 seconds into the video) section of the aircraft, mounted inside a shock absorbing enclosure.

80__M.wmv: This video demonstrates the VGA video output from our autonomous electric UAV, obtained wirelessly over WiFi, navigating and mapping a 80 meter long hallway using a monocular camera and the algorithm(s) proposed in the paper.

SV5Outdoor.flv: This video demonstrates outdoor flight with aforementioned aircraft in an urban environment where hallway-like roads are available.

Aerospace_bldg_4x.wmv: This video shows the progression of map building on-board the aircraft as it flies through the building. The video is accelerated. In real life the aircraft moves at a walking pace when flying indoors, and the time it takes for the map to converge depends on the flight speed. We use slow flight for safety purposes, because the aircraft is capable of highway speeds and has sharp, exposed spinning parts.

  1. SV6_hallway
  2. 80__M
  3. SV5Outdoor
  4. Aerospace_bldg_4x