3D pose estimation based on planar object tracking for UAVs control

Mondragon Bernal, Ivan Fernando and Campoy Cervera, Pascual and Martínez Luna, Carol Viviana and Olivares Méndez, Miguel Ángel (2010). 3D pose estimation based on planar object tracking for UAVs control. In: "IEEE International Conference on Robotics and Automation ICRA2010", 03/05/2010 - 08/05/2010, Alaska, USA. ISBN 978-1-4244-5038-1.

Description

Title: 3D pose estimation based on planar object tracking for UAVs control
Author/s:
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
  • Martínez Luna, Carol Viviana
  • Olivares Méndez, Miguel Ángel
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE International Conference on Robotics and Automation ICRA2010
Event Dates: 03/05/2010 - 08/05/2010
Event Location: Alaska, USA
Title of Book: Proceedings of IEEE International Conference on Robotics and Automation ICRA2010
Date: 2010
ISBN: 978-1-4244-5038-1
Subjects:
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

This article presents a real time Unmanned Aerial Vehicles UAVs 3D pose estimation method using planar object tracking, in order to be used on the control system of a UAV. The method explodes the rich information obtained by a projective transformation of planar objects on a calibrated camera. The algorithm obtains the metric and projective components of a reference object (landmark or helipad) with respect to the UAV camera coordinate system, using a robust real time object tracking based on homographies. The algorithm is validated on real flights that compare the estimated data against that obtained by the inertial measurement unit IMU, showing that the proposed method robustly estimates the helicopter's 3D position with respect to a reference landmark, with a high quality on the position and orientation estimation when the aircraft is flying at low altitudes, a situation in which the GPS information is often inaccurate. The obtained results indicate that the proposed algorithm is suitable for complex control tasks, such as autonomous landing, accurate low altitude positioning and dropping of payloads.

More information

Item ID: 8295
DC Identifier: http://oa.upm.es/8295/
OAI Identifier: oai:oa.upm.es:8295
Official URL: http://icra2010.grasp.upenn.edu/
Deposited by: Memoria Investigacion
Deposited on: 22 Jul 2011 11:52
Last Modified: 20 Apr 2016 17:08
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