Collaborative visual navigation for UAVs in blurry environment

This paper presents a novel strategy addressing visual SLAM with enhancement of data association method. Hyper graph theory and transformation was incorporated within cooperative visual SLAM. The research presented a synthetic approach to fulfill a cooperative data association and fusion strategy for multiple UAVs equipped with stereo vision cameras encountered with indistinct imaging, where conventional method failed to perform ideally. The achieved performance enhancement is discussed in terms of the relative errors as a comparison between the cooperative UAV enhanced filtering scheme versus the single UAV implementation.

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