On-board and Ground Visual Pose Estimation Techniques for UAV Control

Authors:
Carol Martínez;Iván F. Mondragón;Miguel A. Olivares-Méndez;Pascual Campoy
Affiliations:
Computer Vision Group, Centro de Automática y Robótica (CAR), Universidad Politécnica de Madrid, Madrid, Spain 28006;Computer Vision Group, Centro de Automática y Robótica (CAR), Universidad Politécnica de Madrid, Madrid, Spain 28006;Computer Vision Group, Centro de Automática y Robótica (CAR), Universidad Politécnica de Madrid, Madrid, Spain 28006;Computer Vision Group, Centro de Automática y Robótica (CAR), Universidad Politécnica de Madrid, Madrid, Spain 28006
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

Citing 8
Cited 2

Color indexing

International Journal of Computer Vision
A Flexible New Technique for Camera Calibration

IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose Estimation for Planar Structures

IEEE Computer Graphics and Applications
Springer Handbook of Robotics

Springer Handbook of Robotics
Computer Vision Onboard UAVs for Civilian Tasks

Journal of Intelligent and Robotic Systems
Visual 3-D SLAM from UAVs

Journal of Intelligent and Robotic Systems
Trinocular ground system to control UAVs

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry

IEEE Transactions on Robotics

Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems

Journal of Intelligent and Robotic Systems
Airborne Vision-Based Navigation Method for UAV Accuracy Landing Using Infrared Lamps

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

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.