Reliable localization is one of the most important parts of an MAV system.Localization in an indoor GPS-denied environment is a relatively difficultproblem. Current vision based algorithms track optical features to calculateodometry. We present a novel localization method which can be applied in anenvironment having orthogonal sets of equally spaced lines to form a grid. Withthe help of a monocular camera and using the properties of the grid-linesbelow, the MAV is localized inside each sub-cell of the grid and consequentlyover the entire grid for a relative localization over the grid. We demonstrate the effectiveness of our system onboard a customized MAVplatform. The experimental results show that our method provides accurate 5-DoFlocalization over grid lines and it can be performed in real-time.
展开▼
