LeHavreV1, France, Analysis, bibRecord, 000628

Vision based attitude and altitude estimation for UAVs in dark environments

Identifieur interne : 000628 ( France/Analysis ); précédent : 000627; suivant : 000629

Vision based attitude and altitude estimation for UAVs in dark environments

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

Source :

RBID : Hal:hal-00647951

Abstract

This paper presents our novel approach to estimate the real time pose and altitude for unmanned aerial vehicle UAV under low light environment, such as on a cloudy day and night or indoor dark environment. This method utilises the maximum out of a calibrated projective camera and a laser pattern projector. The model is mathematically proven with the validation on simulation and later implemented for a real set of images. The estimated values from our method are compared with commercial sensors for their accuracy and correctness. The proposed solution with the system indicates it being suitable to use in dark environmental conditions especially in the night or dark indoor environment in the absence of GPS signals for positioning. The results prove its suitability for autonomous take off and landing, low altitude maneuver in the dark environment and provides room for additional payload due to use of lighter single camera system.

Url:

https://hal.inria.fr/hal-00647951

DOI: 10.1109/IROS.2011.6094681

Affiliations:

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Le document en format XML

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<date type="start">2016-01-01</date>
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<country>France</country>
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<region type="region" nuts="2">Auvergne-Rhône-Alpes</region>
<region type="old region" nuts="2">Rhône-Alpes</region>
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<orgName type="university">Université Joseph Fourier</orgName>
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<placeName><settlement type="city">Grenoble</settlement>
<region type="region" nuts="2">Auvergne-Rhône-Alpes</region>
<region type="old region" nuts="2">Rhône-Alpes</region>
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<orgName type="university">Université Grenoble-Alpes</orgName>
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<front><div type="abstract" xml:lang="en">This paper presents our novel approach to estimate the real time pose and altitude for unmanned aerial vehicle UAV under low light environment, such as on a cloudy day and night or indoor dark environment. This method utilises the maximum out of a calibrated projective camera and a laser pattern projector. The model is mathematically proven with the validation on simulation and later implemented for a real set of images. The estimated values from our method are compared with commercial sensors for their accuracy and correctness. The proposed solution with the system indicates it being suitable to use in dark environmental conditions especially in the night or dark indoor environment in the absence of GPS signals for positioning. The results prove its suitability for autonomous take off and landing, low altitude maneuver in the dark environment and provides room for additional payload due to use of lighter single camera system.</div>
</front>
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<affiliations><list><country><li>France</li>
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<region><li>Auvergne-Rhône-Alpes</li>
<li>Haute-Normandie</li>
<li>Rhône-Alpes</li>
<li>Région Bourgogne</li>
<li>Région Normandie</li>
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<settlement><li>Dijon</li>
<li>Grenoble</li>
<li>Le Havre</li>
<li>Rouen</li>
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<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>
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<tree><country name="France"><noRegion><name sortKey="Natraj, Ashutosh" sort="Natraj, Ashutosh" uniqKey="Natraj A" first="Ashutosh" last="Natraj">Ashutosh Natraj</name>
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<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>
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Vision based attitude and altitude estimation for UAVs in dark environments

Vision based attitude and altitude estimation for UAVs in dark environments

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