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.
A previous grid-based localization system REF used the properties of particularly structured grid-lines to localize a MAV inside each sub-cell of the grid.
5-DoF monocular visual localization over grid based floor
2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
Engineering Computer Science