期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 65, 期 1-4, 页码 373-387出版社
SPRINGER
DOI: 10.1007/s10846-011-9571-7
关键词
UAV; Quad-rotor; Navigation; Localization; Computer vision; Stereo vision; Ego-motion; Data fusion; Aerial robotics; Autonomous robots
资金
- Mexican National Council for Science and Technology (CONACYT)
This paper presents the development of a quad-rotor robotic platform equipped with a visual and inertial motion estimation system. Our objective consists of developing a UAV capable of autonomously perform take-off, positioning, navigation and landing in unknown environments. In order to provide accurate estimates of the UAV position and velocity, stereo visual odometry and inertial measurements are fused using a Kalman Filter. Real-time experiments consisting on motion detection and autonomous positioning demonstrate the performance of the robotic platform.
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