Memorias de investigación
Ponencias en congresos:
3D pose estimation based on planar object tracking for UAVs control
Año:2010
Áreas de investigación
  • Percepción
Datos
Descripción
This article presents a real time Unmanned Aerial Vehicles UAVs 3D pose estimation method using planar object tracking, in order to be used on the control system of a UAV. The method explodes the rich information obtained by a projective transformation of planar objects on a calibrated camera. The algorithm obtains the metric and projective components of a reference object (landmark or helipad) with respect to the UAV camera coordinate system, using a robust real time object tracking based on homographies. The algorithm is validated on real flights that compare the estimated data against that obtained by the inertial measurement unit IMU, showing that the proposed method robustly estimates the helicopter¿s 3D position with respect to a reference landmark, with a high quality on the position and orientation estimation when the aircraft is flying at low altitudes, a situation in which the GPS information is often inaccurate. The obtained results indicate that the proposed algorithm is suitable for complex control tasks, such as autonomous landing, accurate low altitude positioning and dropping of payloads.
Internacional
Si
Nombre congreso
2010 IEEE International Conference on Robotics and Automation
Tipo de participación
960
Lugar del congreso
Anchorage, Alaska, USA
Revisores
Si
ISBN o ISSN
978-1-4244-5040-4
DOI
Fecha inicio congreso
03/05/2010
Fecha fin congreso
08/05/2010
Desde la página
35
Hasta la página
41
Título de las actas
2010 IEEE International Conference on Robotics and Automation
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Ivan Fernando Mondragon Bernal UPM
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Carol Viviana Martinez Luna UPM
  • Autor: Miguel Ángel Olivares Mendez UPM
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial