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

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Abstract

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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Authors and Affiliations

  1. Université de Technologie de Compiègne, Heudiasyc UMR CNRS, 6599, Compiègne, France

    Luis Rodolfo García Carrillo & Rogelio Lozano

  2. División de Estudios de Posgrado e Investigación Torreón, Instituto Tecnológico de la Laguna, Coahuila, México

    Alejandro Enrique Dzul López

  3. UMI-LAFMIA CINVESTAV-CNRS, México D.F., México

    Rogelio Lozano

  4. Université de Picardie Jules Verne. Modélisation, Information et Systèmes, Amiens, France

    Claude Pégard

Authors
  1. Luis Rodolfo García Carrillo
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  2. Alejandro Enrique Dzul López
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  3. Rogelio Lozano
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  4. Claude Pégard
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Corresponding author

Correspondence to Luis Rodolfo García Carrillo.

Additional information

This work was partially supported by the Mexican National Council for Science and Technology (CONACYT).

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García Carrillo, L.R., Dzul López, A.E., Lozano, R. et al. Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV. J Intell Robot Syst 65, 373–387 (2012). https://doi.org/10.1007/s10846-011-9571-7

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  • DOI: https://doi.org/10.1007/s10846-011-9571-7

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