Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Trinocular Ground System to Control UAVs
Year:2009
Research Areas
  • Artificial intelligence
Information
Abstract
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.
International
Si
Congress
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
960
Place
St Louis, USA
Reviewers
Si
ISBN/ISSN
978-1-4244-3803-7
10.1109/IROS.2009.5354489
Start Date
10/10/2009
End Date
15/10/2009
From page
3361
To page
3367
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Participants
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Miguel Ángel Olivares Mendez (UPM)
Research Group, Departaments and Institutes related
  • 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
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)