Omnidirectional Vision for UAV: Applications to Attitude, Motion and Altitude Estimation for Day and Night Conditions
Identifieur interne : 000420 ( France/Analysis ); précédent : 000419; suivant : 000421Omnidirectional Vision for UAV: Applications to Attitude, Motion and Altitude Estimation for Day and Night Conditions
Auteurs : Ashutosh Natraj [France] ; Sang Ly [France] ; Damien Eynard [France] ; Cédric Demonceaux [France] ; Pascal Vasseur [France]Source :
- Journal of Intelligent and Robotic Systems [ 0921-0296 ] ; 2013.
Abstract
This paper presents the combined applications of omnidirectional vision featuring on its application to aerial robotics. Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable choice for UAV applications not only in different operating environments but also in various illumination conditions.
Url:
DOI: 10.1007/s10846-012-9752-z
Affiliations:
- France
- Haute-Normandie, Région Bourgogne, Région Normandie
- Dijon, Le Havre, Rouen
- Université de Bourgogne, Université de Bourgogne Franche-Comté, Université de Rouen, Université du Havre
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Hal:hal-00767430Le document en format XML
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Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable choice for UAV applications not only in different operating environments but also in various illumination conditions.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Haute-Normandie</li><li>Région Bourgogne</li><li>Région Normandie</li></region><settlement><li>Dijon</li><li>Le Havre</li><li>Rouen</li></settlement><orgName><li>Université de Bourgogne</li><li>Université de Bourgogne Franche-Comté</li><li>Université de Rouen</li><li>Université du Havre</li></orgName></list><tree><country name="France"><noRegion><name sortKey="Natraj, Ashutosh" sort="Natraj, Ashutosh" uniqKey="Natraj A" first="Ashutosh" last="Natraj">Ashutosh Natraj</name></noRegion><name sortKey="Demonceaux, Cedric" sort="Demonceaux, Cedric" uniqKey="Demonceaux C" first="Cédric" last="Demonceaux">Cédric Demonceaux</name><name sortKey="Eynard, Damien" sort="Eynard, Damien" uniqKey="Eynard D" first="Damien" last="Eynard">Damien Eynard</name><name sortKey="Ly, Sang" sort="Ly, Sang" uniqKey="Ly S" first="Sang" last="Ly">Sang Ly</name><name sortKey="Vasseur, Pascal" sort="Vasseur, Pascal" uniqKey="Vasseur P" first="Pascal" last="Vasseur">Pascal Vasseur</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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