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On-board and Ground Visual Pose Estimation Techniques for UAV Control
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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/uh269806601w83... |
| Deposited by: | Memoria Investigacion |
| Deposited on: | 22 Jul 2011 17:24 |
| Last Modified: | 20 Apr 2016 17:08 |
