Using the Unscented Kalman Filter in Mono-SLAM with Inverse Depth Parametrization for Autonomous Airship Control

Abstract

In this paper, we present an approach for aiding control of an autonomous airship by the means of SLAM. We show how the Unscented Kalman Filter can be applied in a SLAM context with monocular vision. The recently published Inverse Depth Parametrization is used for undelayed single-hypothesis landmark initialization and modelling. The novelty of the presented approach lies in the combination of UKF, Inverse Depth Parametrization and bearing-only SLAM and its application for autonomous airship control and UAV control in general.