On-board and Ground Visual Pose Estimation Techniques for UAV Control

Martínez Luna, Carol Viviana and Mondragon Bernal, Ivan Fernando and Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual (2010). On-board and Ground Visual Pose Estimation Techniques for UAV Control. "Journal of intelligent & robotic systems: Theory & applications", v. 61 (n. 1-4); pp. 301-320. ISSN 0921-0296. https://doi.org/10.1007/s10846-010-9505-9.

Description

Title: On-board and Ground Visual Pose Estimation Techniques for UAV Control
Author/s:
  • Martínez Luna, Carol Viviana
  • Mondragon Bernal, Ivan Fernando
  • Olivares Méndez, Miguel Ángel
  • Campoy Cervera, Pascual
Item Type: Article
Event Dates: 21/06/2010 - 23/06/2010
Event Location: Dubait Emiratos Arabes Unidos
Título de Revista/Publicación: Journal of intelligent & robotic systems: Theory & applications
Date: 2010
ISSN: 0921-0296
Volume: 61
Subjects:
Freetext Keywords: Computer vision – Unmanned aerial vehicle – Homography estimation – 3D reconstruction – Visual servoing
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV.

More information

Item ID: 8294
DC Identifier: http://oa.upm.es/8294/
OAI Identifier: oai:oa.upm.es:8294
DOI: 10.1007/s10846-010-9505-9
Official URL: http://www.springerlink.com/content/uh269806601w8320/
Deposited by: Memoria Investigacion
Deposited on: 22 Jul 2011 17:24
Last Modified: 20 Apr 2016 17:08
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