3D model-based tracking for UAV position control

This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehicle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provi...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1084 - 1089
Main Authors Teulière, Céline, Eck, L, Marchand, E, Guénard, Nicolas
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Cameras
Image edge detection
Mathematical model
Robustness
Solid modeling
Unmanned aerial vehicles
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Summary:This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehicle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5649700