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- W2273640963 abstract "This paper presents results of an application of vision-aided bearing-only Simultaneous Localisation And Mapping (SLAM) for an Unmanned Aerial Vehicle (UAV) while operating over unstructured, natural environments. A single colour vision camera is used to observe the terrain from which image points corresponding to both man-made and natural features are extracted. The SLAM algorithm estimates the complete 6-DoF motion of the UAV along with the three-dimensional position of the features in the environment. An Extended Kalman Filter (EKF) approach is used where a technique of delayed initialisation is performed to initialise the 3D position of features from bearing-only observations. Results are presented by running the algorithm using inertial sensor and vision data collected during a flight test of a UAV." @default.
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- W2273640963 date "2005-01-01" @default.
- W2273640963 modified "2023-09-25" @default.
- W2273640963 title "Bearing-Only SLAM for an Airborne Vehicle" @default.
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