Memorias de investigación
Communications at congresses:
A monocular pose estimation strategy for uav autonomous navigation in gnss-denied environments
Year:2016

Research Areas
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
?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
International
Si
Congress
International Micro Air Vechicle Competition and Conference 2016
960
Place
Beijijng, China
Reviewers
Si
ISBN/ISSN
-
Start Date
21/10/2016
End Date
24/10/2016
From page
22
To page
27
-
Participants

Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial