Article (Scientific journals)
On-board and Ground Visual Pose Estimation Techniques for UAV Control
Martinez, Carol; Mondragon, Ivan F.; Olivares Mendez, Miguel Angel et al.
2011In Journal of Intelligent and Robotic Systems, 61 (1-4), p. 301-320
Peer reviewed
 

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Keywords :
Computer vision; Unmanned aerial vehicle; Homography estimation; 3D reconstruction; Visual servoing
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.
Disciplines :
Computer science
Author, co-author :
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 ;  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
External co-authors :
yes
Language :
English
Title :
On-board and Ground Visual Pose Estimation Techniques for UAV Control
Publication date :
2011
Journal title :
Journal of Intelligent and Robotic Systems
ISSN :
0921-0296
Publisher :
Springer, Dordrecht, Unknown/unspecified
Special issue title :
SI
Volume :
61
Issue :
1-4
Pages :
301-320
Peer reviewed :
Peer reviewed
Funders :
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]
Commentary :
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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