LeHavreV1, France, Analysis, bibRecord, 000496

A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments

Identifieur interne : 000496 ( France/Analysis ); précédent : 000495; suivant : 000497

A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments

Auteurs : Ashutosh Natraj [France] ; Peter Sturm [France] ; Cédric Demonceaux [France] ; Pascal Vasseur [France]

Source :

RBID : Hal:hal-00746664

Abstract

This paper presents a single camera and laser system dedicated to the realtime estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low illumination conditions to dark environments. The fisheye camera allows to cover a large field of view (FOV). The approach, close to structured light systems, uses the geometrical information obtained by the projection of a laser circle onto the ground plane and perceived by the camera. We propose some experiments based on simulated data and real sequences. The results show good agreement with the ground truth values from the commercial sensors in terms of its accuracy and correctness. The results also prove its suitability for autonomous take-off and landing as well as for the case of low altitude manoeuvre in dark, GPS signal deficient unknown environments with no prebuilt map. It also provides room for additional payload to be used for different applications due to it being inexpensive and use of light weight micro-camera and laser system.

Url:

https://hal.inria.fr/hal-00746664

DOI: 10.1109/IROS.2012.6385942

Affiliations:

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Le document en format XML

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<region type="region" nuts="2">Auvergne-Rhône-Alpes</region>
<region type="old region" nuts="2">Rhône-Alpes</region>
</placeName>
<orgName type="university">Université Joseph Fourier</orgName>
<orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName>
<placeName><settlement type="city">Grenoble</settlement>
<region type="region" nuts="2">Auvergne-Rhône-Alpes</region>
<region type="old region" nuts="2">Rhône-Alpes</region>
</placeName>
<orgName type="university">Université Grenoble-Alpes</orgName>
</affiliation>
</author>
<author><name sortKey="Demonceaux, Cedric" sort="Demonceaux, Cedric" uniqKey="Demonceaux C" first="Cédric" last="Demonceaux">Cédric Demonceaux</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-22594" status="VALID"><orgName>Laboratoire Electronique, Informatique et Image</orgName>
<orgName type="acronym">Le2i</orgName>
<desc><address><addrLine>Université de Bourgogne - Laboratoire Le2i - UFR Sciences et Techniques - BP 47870 - 21078 DIJON CEDEX</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://le2i.cnrs.fr</ref>
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<relation active="#struct-300270" type="direct"></relation>
<relation name="UMR6306" active="#struct-441569" type="direct"></relation>
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<tutelles><tutelle active="#struct-300062" type="direct"><org type="institution" xml:id="struct-300062" status="VALID"><orgName>Arts et Métiers ParisTech</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
<tutelle active="#struct-300270" type="direct"><org type="institution" xml:id="struct-300270" status="VALID"><orgName>Université de Bourgogne</orgName>
<orgName type="acronym">UB</orgName>
<desc><address><addrLine>Maison de l'université - Esplanade Érasme - BP 27877 - 21078 Dijon cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.u-bourgogne.fr/</ref>
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</org>
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<tutelle name="UMR6306" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
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</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
<placeName><settlement type="city">Dijon</settlement>
<region type="region" nuts="2">Région Bourgogne</region>
</placeName>
<orgName type="university">Université de Bourgogne</orgName>
<orgName type="institution" wicri:auto="newGroup">Université de Bourgogne Franche-Comté</orgName>
</affiliation>
</author>
<author><name sortKey="Vasseur, Pascal" sort="Vasseur, Pascal" uniqKey="Vasseur P" first="Pascal" last="Vasseur">Pascal Vasseur</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-23832" status="VALID"><orgName>Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes</orgName>
<orgName type="acronym">LITIS</orgName>
<desc><address><addrLine>Avenue de l'Université UFR des Sciences et Techniques 76800 Saint-Etienne du Rouvray</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.litislab.eu</ref>
</desc>
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<tutelles><tutelle active="#struct-300317" type="direct"><org type="institution" xml:id="struct-300317" status="VALID"><orgName>Université du Havre</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
<tutelle name="EA4108" active="#struct-300318" type="direct"><org type="institution" xml:id="struct-300318" status="VALID"><orgName>Université de Rouen</orgName>
<desc><address><addrLine> 1 rue Thomas Becket - 76821 Mont-Saint-Aignan</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.univ-rouen.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-301288" type="direct"><org type="department" xml:id="struct-301288" status="VALID"><orgName>Institut National des Sciences Appliquées - Rouen</orgName>
<orgName type="acronym">INSA Rouen</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-301232" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName>
<orgName type="acronym">INSA</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
<placeName><settlement type="city">Le Havre</settlement>
<region type="region" nuts="2">Région Normandie</region>
<region type="old region" nuts="2">Haute-Normandie</region>
</placeName>
<orgName type="university">Université du Havre</orgName>
<placeName><settlement type="city">Rouen</settlement>
<region type="region" nuts="2">Région Normandie</region>
<region type="old region" nuts="2">Haute-Normandie</region>
</placeName>
<orgName type="university">Université de Rouen</orgName>
</affiliation>
</author>
</analytic>
<idno type="DOI">10.1109/IROS.2012.6385942</idno>
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<front><div type="abstract" xml:lang="en">This paper presents a single camera and laser system dedicated to the realtime estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low illumination conditions to dark environments. The fisheye camera allows to cover a large field of view (FOV). The approach, close to structured light systems, uses the geometrical information obtained by the projection of a laser circle onto the ground plane and perceived by the camera. We propose some experiments based on simulated data and real sequences. The results show good agreement with the ground truth values from the commercial sensors in terms of its accuracy and correctness. The results also prove its suitability for autonomous take-off and landing as well as for the case of low altitude manoeuvre in dark, GPS signal deficient unknown environments with no prebuilt map. It also provides room for additional payload to be used for different applications due to it being inexpensive and use of light weight micro-camera and laser system.</div>
</front>
</TEI>
<affiliations><list><country><li>France</li>
</country>
<region><li>Auvergne-Rhône-Alpes</li>
<li>Haute-Normandie</li>
<li>Rhône-Alpes</li>
<li>Région Bourgogne</li>
<li>Région Normandie</li>
</region>
<settlement><li>Dijon</li>
<li>Grenoble</li>
<li>Le Havre</li>
<li>Rouen</li>
</settlement>
<orgName><li>Université Grenoble-Alpes</li>
<li>Université Joseph Fourier</li>
<li>Université de Bourgogne</li>
<li>Université de Bourgogne Franche-Comté</li>
<li>Université de Grenoble</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="Sturm, Peter" sort="Sturm, Peter" uniqKey="Sturm P" first="Peter" last="Sturm">Peter Sturm</name>
<name sortKey="Vasseur, Pascal" sort="Vasseur, Pascal" uniqKey="Vasseur P" first="Pascal" last="Vasseur">Pascal Vasseur</name>
</country>
</tree>
</affiliations>
</record>

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   |texte=   A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments
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A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments

A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments

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