Using a camera, a micro aerial vehicle (MAV) can perform visual-based navigation in periods or circumstances when GPS is not available, or when it is partially available. In this context, the monocular simultaneous localization and mapping (SLAM) methods represent an excellent alternative, due to several limitations regarding to the design of the platform, mobility and payload capacity that impose considerable restrictions on the available computational and sensing resources of the MAV. However, the use of monocular vision introduces some technical difficulties as the impossibility of directly recovering the metric scale of the world. In this work, a novel monocular SLAM system with application to MAVs is proposed. The sensory input is taken from a monocular downward facing camera, an ultrasonic range finder and a barometer. The proposed method is based on the theoretical findings obtained from an observability analysis. Experimental results with real data confirm those theoretical findings and show that the proposed method is capable of providing good results with low-cost hardware.Peer ReviewedPostprint (published version
