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Descripción
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| We present a system to estimate the altitude and motion of an aerial vehicle using a stereo visual system. The algorithm has been designed and tested in two stages using 2 different platform. The two main functionalities are height estimation and visual odometry. These functionalities were validated on a PionnerAT2 ground robot and an autonomous helicopter. The system detect and track salient points in the scene. Depth to the plane containing the features is calculated matching features between left and right images then using the disparity principle. Motion is recovered tracking pixels from one frame to the next finding its visual displacement and resolving camera rotation and translation by a least- square method. We present results from different experimental trials on the two platforms giving examples of the trajectory calculated by the system. | |
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Internacional
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Si |
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Nombre congreso
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ICRA07 IEEE International Conference on Robotics and Automation |
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Tipo de participación
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960 |
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Lugar del congreso
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Roma; Italy |
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Revisores
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Si |
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ISBN o ISSN
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1-4244-0602-1/07 |
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DOI
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Fecha inicio congreso
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10/04/2007 |
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Fecha fin congreso
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13/04/2007 |
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