Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV

Authors:
Luis Rodolfo García Carrillo;Alejandro Enrique Dzul López;Rogelio Lozano;Claude Pégard
Affiliations:
Université de Technologie de Compiègne, Heudiasyc UMR CNRS, Compiègne, France 6599;División de Estudios de Posgrado e Investigación Torreón, Instituto Tecnológico de la Laguna, Coahuila, México;Université de Technologie de Compiègne, Heudiasyc UMR CNRS, Compiègne, France 6599 and UMI-LAFMIA CINVESTAV-CNRS, México D.F., México;Université de Picardie Jules Verne. Modélisation, Information et Systèmes, Amiens, France
Venue:
Journal of Intelligent and Robotic Systems
Year:
2012

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Abstract

This paper presents the development of a quad-rotor robotic platform equipped with a visual and inertial motion estimation system. Our objective consists of developing a UAV capable of autonomously perform take-off, positioning, navigation and landing in unknown environments. In order to provide accurate estimates of the UAV position and velocity, stereo visual odometry and inertial measurements are fused using a Kalman Filter. Real-time experiments consisting on motion detection and autonomous positioning demonstrate the performance of the robotic platform.