Autocalibration from Planar Scenes
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor
ISER '00 Experimental Robotics VII
Height Estimation for an Autonomous Helicopter
ISER '00 Experimental Robotics VII
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Image-based visual servo control of aerial robotic systems using linear image features
IEEE Transactions on Robotics
A Vision-Based Guidance System for UAV Navigation and Safe Landing using Natural Landmarks
Journal of Intelligent and Robotic Systems
Autonomous Vision-Based Helicopter Flights Through Obstacle Gates
Journal of Intelligent and Robotic Systems
An Image Registration Approach for Accurate Satellite Attitude Estimation
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II
A Novel Vision-Based Approach for Autonomous Space Navigation Systems
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II
A visual navigation system for autonomous flight of micro air vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Vision-Based Landing of Light Weight Unmanned Helicopters on a Smart Landing Platform
Journal of Intelligent and Robotic Systems
Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV
Journal of Intelligent and Robotic Systems
Parallel tracking and mapping for controlling VTOL airframe
Journal of Control Science and Engineering
International Journal of Robotics Research
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Bearing-only visual SLAM for small unmanned aerial vehicles in GPS-denied environments
International Journal of Automation and Computing
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
This paper proposes vision-based techniques for localizing an unmanned aerial vehicle (UAV) by means of an on-board camera. Only natural landmarks provided by a feature tracking algorithm will be considered, without the help of visual beacons or landmarks with known positions. First, it is described a monocular visual odometer which could be used as a backup system when the accuracy of GPS is reduced to critical levels. Homography-based techniques are used to compute the UAV relative translation and rotation by means of the images gathered by an onboard camera. The analysis of the problem takes into account the stochastic nature of the estimation and practical implementation issues. The visual odometer is then integrated into a simultaneous localization and mapping (SLAM) scheme in order to reduce the impact of cumulative errors in odometry-based position estimation approaches. Novel prediction and landmark initialization for SLAM in UAVs are presented. The paper is supported by an extensive experimental work where the proposed algorithms have been tested and validated using real UAVs.