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Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/42505
Title: Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Authors: Mondragón, Iván F.; Campoy, Pascual; Martínez, Carol; Olivares, Miguel
Keywords: Omnidirectional images
Catadioptric systems
Unmanned Aerial Vehicles (UAV)
Sky segmentation
Issue Date: Jun-2010
Publisher: Elsevier
Citation: Robotics and Autonomous Systems 58(6): 809-819 (2010)
Abstract: 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.
Description: 11 páginas, 14 figuras, 3 tablas.-- El Pdf del artículo es la versión pre-print.
Publisher version (URL): http://dx.doi.org/10.1016/j.robot.2010.02.012
URI: http://hdl.handle.net/10261/42505
ISSN: 0921-8890
DOI: 10.1016/j.robot.2010.02.012
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