Real-Time SLAM Based on Image Stitching for Autonomous Navigation of UAVs in GNSS-Denied Regions
- Resource Type
- Conference
- Authors
- Rizk, Mostafa; Mroue, Ahmad; Farran, Mohammad; Charara, Jamal
- Source
- 2020 2nd IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS) Artificial Intelligence Circuits and Systems (AICAS), 2020 2nd IEEE International Conference on. :301-304 Aug, 2020
- Subject
- Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Feature extraction
Simultaneous localization and mapping
Global navigation satellite system
Cameras
Visualization
Receivers
UAV
SLAM
GNSS-free navigation
autonomous
- Language
This paper introduces a novel visual Simultaneous Localization and Mapping (SLAM) system, which is based on image stitching technique. It is proposed to determine the position of unmanned aerial vehicles (UAVs) in GNSS-denied regions. Image stitching technique is adopted to overcome the limitations of current methods in terms of complexity and memory requirement. Also, the proposed method provides a solution to localize UAVs in unknown paths and to cope with modifications of landmarks. To evaluate the proposed method, several experiments have been conducted targeting datasets of images captured by UAVs in different environments. The obtained results demonstrate the effectiveness of the proposed method.