5-DoF Monocular Visual Localization Over Grid Based Floor
This addresses localization for MAVs in indoor environments, but it is incremental as it relies on specific grid-based infrastructure.
The paper tackles the problem of indoor GPS-denied localization for MAVs by proposing a method that uses a monocular camera and grid lines on the floor to achieve accurate 5-DoF localization in real-time.
Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We present a novel localization method which can be applied in an environment having orthogonal sets of equally spaced lines to form a grid. With the help of a monocular camera and using the properties of the grid-lines below, the MAV is localized inside each sub-cell of the grid and consequently over the entire grid for a relative localization over the grid. We demonstrate the effectiveness of our system onboard a customized MAV platform. The experimental results show that our method provides accurate 5-DoF localization over grid lines and it can be performed in real-time.