期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 58, 期 6, 页码 809-819出版社
ELSEVIER
DOI: 10.1016/j.robot.2010.02.012
关键词
Omnidirectional images; Catadioptric systems; Unmanned Aerial Vehicles (UAV); Sky segmentation
资金
- Universidad Politecnica de Madrid
- Consejeria de Educacion de la Comunidad de Madrid
- Fondo Social Europeo (FSE)
- Spanish Science and Technology Ministry [CICYT DPI 2007-66156]
This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV's attitude. Then, we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Finally the tests and results using the UAV COLIBRI platform and the validation of them in real flights are presented, comparing the estimated data with the inertial values measured on board. (C) 2010 Elsevier B.V. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据