Visual Inertial Simultaneous Localization and Mapping (VISLAM) for an Unmanned Helicopter Vehicle Target (UHV-T)

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Meggitt Target Systems (MTAS) (Medicine Hat, AB) develops unmanned helicopter vehicle targets (UHV-T). UHV-Ts can only be operated autonomously when GPS is available. Such a requirement limits the scope of the UHV-T missions. For example, applications such as shipboard landing where the relative pose with respect to the deck is required and GPS signals can be blocked by the superstructure. This project designs an on-board VISLAM (Visual Inertial Simultaneous Localization and Mapping) system which combines inertial and camera measurements to obtain a pose estimate without requiring GPS. Inertial measurements are obtained from gyroscopes for angular velocity and accelerometers provide linear acceleration. Given the strong current interest in VISLAM in the scientific community, this research will keep Canada at the forefront in the fields of control systems and robotics. Canada benefits given that VISLAM can be applied to a range of applications such as mobile robots, autonomous cars, and virtual reality.