Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment

Herdawatie Abdul Kadir; Mohd Rizal Arshad

doi:10.1109/USYS.2016.7893937

Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment

Herdawatie Abdul Kadir, Mohd Rizal Arshad

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

4 Citations (Scopus)

Abstract

The aim of this work is to design a SLAM algorithm for localization and mapping of aerial platform for ocean observation. The aim is to determine the direction of travel, given that the aerial platform flies over the water surface and in an environment with few static features and dynamic background. This approach is inspired by the bird techniques which use landmarks as navigation direction. In this case, the blimp is chosen as the platform, therefore the payload is the most important concern in the design so that the desired lift can be achieved. The results show the improved SLAM is were able to achieve the desired waypoint.

Original language	English
Title of host publication	USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology
Subtitle of host publication	Theory and Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	61-66
Number of pages	6
ISBN (Electronic)	9781509057986
DOIs	https://doi.org/10.1109/USYS.2016.7893937
Publication status	Published - 6 Apr 2017
Externally published	Yes
Event	6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016 - Pulau Pinang, Malaysia Duration: 13 Dec 2016 → 14 Dec 2016

Publication series

Name	USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications

Conference

Conference	6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016
Country/Territory	Malaysia
City	Pulau Pinang
Period	13/12/16 → 14/12/16

Keywords

Aerial SLAM
Feature selection
Ocean
Simultaneous Localization and Mapping

Access to Document

10.1109/USYS.2016.7893937

Cite this

Kadir, H. A., & Arshad, M. R. (2017). Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment. In USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications (pp. 61-66). Article 7893937 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/USYS.2016.7893937

Kadir, Herdawatie Abdul ; Arshad, Mohd Rizal. / Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment. USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 61-66 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications).

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abstract = "The aim of this work is to design a SLAM algorithm for localization and mapping of aerial platform for ocean observation. The aim is to determine the direction of travel, given that the aerial platform flies over the water surface and in an environment with few static features and dynamic background. This approach is inspired by the bird techniques which use landmarks as navigation direction. In this case, the blimp is chosen as the platform, therefore the payload is the most important concern in the design so that the desired lift can be achieved. The results show the improved SLAM is were able to achieve the desired waypoint.",

keywords = "Aerial SLAM, Feature selection, Ocean, Simultaneous Localization and Mapping",

author = "Kadir, {Herdawatie Abdul} and Arshad, {Mohd Rizal}",

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series = "USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications",

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Kadir, HA & Arshad, MR 2017, Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment. in USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications., 7893937, USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications, Institute of Electrical and Electronics Engineers Inc., pp. 61-66, 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016, Pulau Pinang, Malaysia, 13/12/16. https://doi.org/10.1109/USYS.2016.7893937

Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment. / Kadir, Herdawatie Abdul; Arshad, Mohd Rizal.
USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc., 2017. p. 61-66 7893937 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications).

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

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AB - The aim of this work is to design a SLAM algorithm for localization and mapping of aerial platform for ocean observation. The aim is to determine the direction of travel, given that the aerial platform flies over the water surface and in an environment with few static features and dynamic background. This approach is inspired by the bird techniques which use landmarks as navigation direction. In this case, the blimp is chosen as the platform, therefore the payload is the most important concern in the design so that the desired lift can be achieved. The results show the improved SLAM is were able to achieve the desired waypoint.

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Kadir HA, Arshad MR. Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment. In USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc. 2017. p. 61-66. 7893937. (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications). doi: 10.1109/USYS.2016.7893937

Improved simultaneous localization and mapping (SLAM) algorithms for aerial vehicle under dynamic sea surface environment

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Keywords

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