Descripción
|
|
---|---|
A multirotor indoors navigation solution from the CVG group[1, 5] is presented. The hardware consists of a Pelican quadrotor with a downfacing camera, an altitude sensor and a Hokuyo laser range finder. The downfacing camera is used to estimate the horizontal speed of the quadrotor using optical flow. The measurements of the Hokuyo sensor are filtered using a Particle Filter or Monte-Carlo localization algorithm to obtain a position mesaurement to correct the odometry cumulative error. The utilized system architecture allows the adoption of several configuration schemes[4], allowing to perform the data processing in different computers. | |
Internacional
|
No |
Nombre congreso
|
Jornadas de Automática - CEA |
Tipo de participación
|
960 |
Lugar del congreso
|
Vigo |
Revisores
|
Si |
ISBN o ISSN
|
CDP08UPM |
DOI
|
|
Fecha inicio congreso
|
05/09/2012 |
Fecha fin congreso
|
07/09/2012 |
Desde la página
|
0 |
Hasta la página
|
0 |
Título de las actas
|
Actas de las Jornadas de Automática CEA-IFAC |