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On-board and Ground Visual Pose Estimation Techniques for UAV Control
Cita
Martínez Luna, Carol Viviana, Mondragon Bernal, Ivan Fernando, Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual 
ORCID: https://orcid.org/0000-0002-9894-2009
(2010).
On-board and Ground Visual Pose Estimation Techniques for UAV Control.
"Journal of intelligent & robotic systems: Theory & applications", v. 61
(n. 1-4);
pp. 301-320.
ISSN 0921-0296.
https://doi.org/10.1007/s10846-010-9505-9.
Descripción
| Título: | On-board and Ground Visual Pose Estimation Techniques for UAV Control |
|---|---|
| Autor/es: |
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| Tipo de Documento: | Artículo |
| Fechas del Evento: | 21/06/2010 - 23/06/2010 |
| Lugar del Evento: | Dubait Emiratos Arabes Unidos |
| Título de Revista/Publicación: | Journal of intelligent & robotic systems: Theory & applications |
| Fecha: | 2010 |
| ISSN: | 0921-0296 |
| Volumen: | 61 |
| Número: | 1-4 |
| Materias: | |
| ODS: | |
| Palabras Clave Informales: | Computer vision – Unmanned aerial vehicle – Homography estimation – 3D reconstruction – Visual servoing |
| Escuela: | E.T.S.I. Industriales (UPM) |
| Departamento: | Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014] |
| Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
Resumen
In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV.
Más información
| ID de Registro: | 8294 |
|---|---|
| Identificador DC: | https://oa.upm.es/8294/ |
| Identificador OAI: | oai:oa.upm.es:8294 |
| Identificador DOI: | 10.1007/s10846-010-9505-9 |
| URL Oficial: | http://www.springerlink.com/content/uh269806601w83... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 22 Jul 2011 17:24 |
| Ultima Modificación: | 20 Abr 2016 17:08 |
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