Aerial inertial-SLAM: Progresses and future challenges

Jonghyuk Kim

doi:10.1109/URAI.2015.7358938

Aerial inertial-SLAM: Progresses and future challenges

Jonghyuk Kim^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper will summarise the recent progresses made in the area of aerial SLAM, particularly focusing on high-dynamics and high-maneuvering flying vehicles. Although there have been significant progresses in SLAM for low-dynamic platforms, such as multi-rotors which has virtually 3-DOF motion, the high-dynamic vehicles still have many theoretical and practical challenges, such as high-dimensionality and non-linearity in the vehicle state and high-speed sensing and perception. This paper will briefly introduce 1) the partitioned Rao-blackwellised SLAM approach and 2) GPS raw measurement integration into SLAM to maximise the sensor calibration. Future challenges and outlooks will be discussed.

Original language	English
Title of host publication	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	212-213
Number of pages	2
ISBN (Electronic)	9781467379700
DOIs	https://doi.org/10.1109/URAI.2015.7358938
Publication status	Published - 16 Dec 2015
Event	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of Duration: 28 Oct 2015 → 30 Oct 2015

Publication series

Name	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

Conference

Conference	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Country/Territory	Korea, Republic of
City	Goyang City
Period	28/10/15 → 30/10/15

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10.1109/URAI.2015.7358938

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Kim, J. (2015). Aerial inertial-SLAM: Progresses and future challenges. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 212-213). Article 7358938 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358938

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title = "Aerial inertial-SLAM: Progresses and future challenges",

abstract = "This paper will summarise the recent progresses made in the area of aerial SLAM, particularly focusing on high-dynamics and high-maneuvering flying vehicles. Although there have been significant progresses in SLAM for low-dynamic platforms, such as multi-rotors which has virtually 3-DOF motion, the high-dynamic vehicles still have many theoretical and practical challenges, such as high-dimensionality and non-linearity in the vehicle state and high-speed sensing and perception. This paper will briefly introduce 1) the partitioned Rao-blackwellised SLAM approach and 2) GPS raw measurement integration into SLAM to maximise the sensor calibration. Future challenges and outlooks will be discussed.",

keywords = "Aerial SLAM, Inertial Measurement Unit (IMU), Rao-blackwellised filter, Tightly-coupled SLAM",

author = "Jonghyuk Kim",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 ; Conference date: 28-10-2015 Through 30-10-2015",

year = "2015",

month = dec,

day = "16",

doi = "10.1109/URAI.2015.7358938",

language = "English",

series = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "212--213",

booktitle = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",

address = "United States",

}

Kim, J 2015, Aerial inertial-SLAM: Progresses and future challenges. in 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015., 7358938, 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Institute of Electrical and Electronics Engineers Inc., pp. 212-213, 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Goyang City, Korea, Republic of, 28/10/15. https://doi.org/10.1109/URAI.2015.7358938

Aerial inertial-SLAM: Progresses and future challenges. / Kim, Jonghyuk.
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 212-213 7358938 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Aerial inertial-SLAM

T2 - 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

AU - Kim, Jonghyuk

PY - 2015/12/16

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N2 - This paper will summarise the recent progresses made in the area of aerial SLAM, particularly focusing on high-dynamics and high-maneuvering flying vehicles. Although there have been significant progresses in SLAM for low-dynamic platforms, such as multi-rotors which has virtually 3-DOF motion, the high-dynamic vehicles still have many theoretical and practical challenges, such as high-dimensionality and non-linearity in the vehicle state and high-speed sensing and perception. This paper will briefly introduce 1) the partitioned Rao-blackwellised SLAM approach and 2) GPS raw measurement integration into SLAM to maximise the sensor calibration. Future challenges and outlooks will be discussed.

AB - This paper will summarise the recent progresses made in the area of aerial SLAM, particularly focusing on high-dynamics and high-maneuvering flying vehicles. Although there have been significant progresses in SLAM for low-dynamic platforms, such as multi-rotors which has virtually 3-DOF motion, the high-dynamic vehicles still have many theoretical and practical challenges, such as high-dimensionality and non-linearity in the vehicle state and high-speed sensing and perception. This paper will briefly introduce 1) the partitioned Rao-blackwellised SLAM approach and 2) GPS raw measurement integration into SLAM to maximise the sensor calibration. Future challenges and outlooks will be discussed.

KW - Aerial SLAM

KW - Inertial Measurement Unit (IMU)

KW - Rao-blackwellised filter

KW - Tightly-coupled SLAM

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M3 - Conference contribution

T3 - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

SP - 212

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BT - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 28 October 2015 through 30 October 2015

ER -

Aerial inertial-SLAM: Progresses and future challenges

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