Observatorio de I+D+i UPM

Descripción
?In this paper, an accurate, efficient, and simple vision-based pose estimation strategy for UAV navigation in GNSS-denied environments is presented. Using visual information and previous knowledge of 3D geometries present in the environment, the pose can be estimated accurately and used for autonomous navigation. The indoor mission in the IMAV 2016 competition has been chosen for developing and evaluating this approach. Three Perspective-n-Point (PnP) algorithms have been tested and benchmarked with the purpose of selecting the most suitable for navigating in this scenario. All of them have been tested in a realistic Gazebo-based simulation using our novel UAV software, Aerostack, which allows for a fully autonomous solution. A complete flight in a GNSS-denied environment has been successfully simulated, indicating that real flights are feasible with this approach
Internacional	Si
Nombre congreso	International Micro Air Vechicle Competition and Conference 2016
Tipo de participación	960
Lugar del congreso	Beijijng, China
Revisores	Si
ISBN o ISSN	-
DOI
Fecha inicio congreso	21/10/2016
Fecha fin congreso	24/10/2016
Desde la página	22
Hasta la página	27
Título de las actas	-

Esta actividad pertenece a memorias de investigación

• Autor: Alejandro Rodriguez Ramos (UPM)
• Autor: Carlos Sampedro Perez (UPM)
• Autor: Adrián Carrió Fernández (UPM)
• Autor: Hriday Bavle Milind (UPM)
• Autor: Ramon Antonio Suarez Fernandez (UPM)
• Autor: Pascual Campoy Cervera (UPM)

• Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial