Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV

被引：9

作者：

Luis Rodolfo García Carrillo

Alejandro Enrique Dzul López

Rogelio Lozano

Claude Pégard

机构：

[1] Université de Technologie de Compiègne,División de Estudios de Posgrado e Investigación Torreón

[2] Heudiasyc UMR CNRS,undefined

[3] Instituto Tecnológico de la Laguna,undefined

[4] UMI-LAFMIA CINVESTAV-CNRS,undefined

[5] Université de Picardie Jules Verne. Modélisation,undefined

[6] Information et Systèmes,undefined

来源：

Journal of Intelligent & Robotic Systems | 2012年 / 65卷

关键词：

UAV; Quad-rotor; Navigation; Localization; Computer vision; Stereo vision; Ego-motion; Data fusion; Aerial robotics; Autonomous robots;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

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.

引用

页码：373 / 387

页数：14

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