Reference : On-board and Ground Visual Pose Estimation Techniques for UAV Control
Scientific journals : Article
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/9951
On-board and Ground Visual Pose Estimation Techniques for UAV Control
English
Martinez, Carol [Universidad Politecnica de MAdrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Mondragon, Ivan F. [Universidad Politecnica de MAdrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Olivares Mendez, Miguel Angel mailto [Universidad Politecnica de MAdrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Campoy, Pascual [Universidad Politecnica de MAdrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
2011
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Springer
61
1-4
SI
301-320
Yes (verified by ORBilu)
International
0921-0296
Dordrecht
[en] Computer vision ; Unmanned aerial vehicle ; Homography estimation ; 3D reconstruction ; Visual servoing
[en] 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.
Universidad Politecnica de Madrid ; Consejeria de Educacion de la Comunidad de Madrid ; Fondo Social Europeo (FSE) ; Spanish Science and Technology Ministry [CICYT DPI 2007-66156]
http://hdl.handle.net/10993/9951
10.1007/s10846-010-9505-9
The work reported in this paper is the product of several research stages at the Computer Vision Group of the Universidad Politecnica de Madrid. The authors would like to thank Jorge Leon for supporting the flight trials. We would also like to thank the Universidad Politecnica de Madrid, the Consejeria de Educacion de la Comunidad de Madrid and the Fondo Social Europeo (FSE) for some of the Authors' PhD Scholarships. This work has been sponsored by the Spanish Science and Technology Ministry under grant CICYT DPI 2007-66156.

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