Paper published in a book (Scientific congresses, symposiums and conference proceedings)
Trinocular Ground System to Control UAVs
Martinez, Carol; Campoy, Pascual; Mondragon, Ivan et al.
2009In 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
Peer reviewed
 

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Abstract :
[en] In this paper we introduce a real-time trinocular system to control rotary wing Unmanned Aerial Vehicles based on the 3D information extracted by cameras located on the ground. The algorithm is based on key features onboard the UAV to estimate the vehicle's position and orientation. The algorithm is validated against onboard sensors and known 3D positions, showing that the proposed camera configuration robustly estimates the helicopter's position with an adequate resolution, improving the position estimation, especially the height estimation. The obtained results show that the proposed algorithm is suitable to complement or replace the GPS-based position estimation in situations where GPS information is unavailable or where its information is inaccurate, allowing the vehicle to develop tasks at low heights, such as autonomous landing, take-off, and positioning, using the extracted 3D information as a visual feedback to the flight controller.
Disciplines :
Computer science
Electrical & electronics engineering
Author, co-author :
Martinez, Carol;  Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.
Campoy, Pascual;  Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.
Mondragon, Ivan;  Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.
Olivares Mendez, Miguel Angel ;  Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.
Language :
English
Title :
Trinocular Ground System to Control UAVs
Publication date :
2009
Event name :
IEEE RSJ International Conference on Intelligent Robots and Systems
Event organizer :
IEEE Robot & Automat Soc, Robot Soc Japan, Soc Instrument & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot
Event place :
St. Louis, United States - Missouri
Event date :
OCT 10-15, 2009
Main work title :
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
Publisher :
Ieee, New York, Unknown/unspecified
ISBN/EAN :
978-1-4244-3803-7
Pages :
3361-3367
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 06 November 2013

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