Memorias de investigación
Ponencias en congresos:
Trinocular Ground System to Control UAVs
Año:2009
Áreas de investigación
  • Inteligencia artificial
Datos
Descripción
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.
Internacional
Si
Nombre congreso
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Tipo de participación
960
Lugar del congreso
St Louis, USA
Revisores
Si
ISBN o ISSN
978-1-4244-3803-7
DOI
10.1109/IROS.2009.5354489
Fecha inicio congreso
10/10/2009
Fecha fin congreso
15/10/2009
Desde la página
3361
Hasta la página
3367
Título de las actas
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Carol Viviana Martinez Luna UPM
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Ivan Fernando Mondragon Bernal UPM
  • Autor: Miguel Ángel Olivares Mendez UPM
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Visión por computador
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial