[1] DISSANAYAKE M W M G, NEWMAN P, CLARK S, et al.A solution to the Simultaneous Localization and Map building (SLAM) problem［J］.IEEE Transactions on Robotics and Automation, 2001, 17(3): 229-241.

[7] SAZDOVSKI V, SILSON P M G.Inertial navigation aided by vision-based simultaneous localization and mapping［J］.IEEE Sensors Journal, 2011, 11(8): 1646-1656.

[8] JUNG I K, LACROIX S.High resolution terrain mapping using low attitude aerial stereo imagery［C］//The Ninth IEEE International Conference on Computer Vision, 2003: 946-951.

[13] MONTEMERLO M, THRUN S, KOLLER D, et al.Fast-SLAM: a factored solution to the simultaneous localiza-tion and mapping problem［C］//The 8th National Conference on Artificial Intelligence, and 14th Conference on Innovative Applications of Artificial Intelligence, Edmonton: AAAI/IAAI, 2002: 593-598.

[14] LI X, AOUF N.Cooperative vSLAM based on UAV application［C］//IEEE International Conference on Robotics and Biomimetics.Guangzhou: 2012: 914-919.

[15] NEMRA A, AOUF N.Experimental airborne NH∞ vision-based simultaneous localization and mapping in unknown environments［J］.Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2010, 224(12): 1253-1270.

[16] TITTERTON D, WESTON J L.Strapdown inertial navigation technology［M］.2nd ed.London: IET, 2004.

[17] MONTEMERLO M, THRUN S.FastSLAM: a scalable method for the simultaneous localization and mapping problem in robotics［M］.London: Springer, 2007.