Print Email Facebook Twitter Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation Title Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation Author Lee, Seong Hun (TU Delft Aerospace Engineering) Contributor de Croon, G.C.H.E. (mentor) Hoekstra, J.M. (graduation committee) Kooij, J.F.P. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2017-08-31 Abstract We propose a novel method to deal with the scale ambiguity in monocular SLAM based on control stability. We analytically show that (1) using unscaled state feedback from monocular SLAM for control can lead to system instability, and (2) there is a unique linear relationship between the absolute scale of the SLAM system and the control gain at which instability arises. Using this property, our method estimates the scale by adapting the gain and detecting self-induced oscillations. Unlike conventional monocular approaches, no additional metric sensors are used for scale estimation. We demonstrate the ability of our system to estimate the scale for performing autonomous indoor navigation with a low-cost quadrotor MAV. Subject monocular SLAMautonomous navigationscale estimationquadrotorMAVvisual SLAM To reference this document use: http://resolver.tudelft.nl/uuid:015f322f-9d86-4717-b2e2-74cf25bfa70c Part of collection Student theses Document type master thesis Rights © 2017 Seong Hun Lee Files PDF Seong_final_report.pdf 5.8 MB Close viewer /islandora/object/uuid:015f322f-9d86-4717-b2e2-74cf25bfa70c/datastream/OBJ/view