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  Bryson, M.T. & Sukkarieh, S.
Building a Robust Implementation of Bearing-Only Inertial SLAM for a UAV
In Journal of Field Robotics, Special issue on SLAM in the field, vol. 24, no. 1-2, Feb, 2007, pp. 113-143

Abstract
This paper presents the on-going design and implementation of a robust inertial sensor based Simultaneous Localisation And Mapping (SLAM) algorithm for an Unmanned Aerial Vehicle (UAV) using bearing-only observations. A single colour vision camera is used to observe the terrain from which image points corresponding to features in the environment are extracted. The SLAM algorithm estimates the complete 6-DoF motion of the UAV along with the three-dimensional position of the features in the environment. An Extended Kalman Filter (EKF) approach is used where a technique of delayed initialisation is performed to initialise the 3D position of features from bearing-only observations. Data association is achieved using a multi-hypothesis innovation gate based on the spatial uncertainty of each feature. Results are presented by running the algorithm off-line using inertial sensor and vision data collected during a flight test of a UAV.

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