Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision
Identifieur interne : 000291 ( Hal/Checkpoint ); précédent : 000290; suivant : 000292Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision
Auteurs : Damien Eynard [France] ; Pascal Vasseur [France] ; Cédric Demonceaux [France] ; Vincent Fremont [France]Source :
- Autonomous Robots [ 0929-5593 ] ; 2012-08.
Abstract
Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during crit- ical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating the scale of the trans- lation. The motion can be estimated robustly at the scale, thanks to the knowledge of the altitude. We propose a robust, real-time, accurate, exclusively vision-based approach with an embedded C++ implementation. Although this approach removes the need for any non-visual sensors, it can also be coupled with an Inertial Measurement Unit.
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DOI: 10.1007/s10514-012-9285-0
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In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating the scale of the trans- lation. The motion can be estimated robustly at the scale, thanks to the knowledge of the altitude. We propose a robust, real-time, accurate, exclusively vision-based approach with an embedded C++ implementation. Although this approach removes the need for any non-visual sensors, it can also be coupled with an Inertial Measurement Unit.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision</title><author role="crp"><persName><forename type="first">Damien</forename><surname>Eynard</surname></persName><email>damien.eyn@gmail.com</email><idno type="halauthor">459716</idno><affiliation ref="#struct-59714"></affiliation></author><author role="aut"><persName><forename type="first">Pascal</forename><surname>Vasseur</surname></persName><email>pascal.vasseur@insa-rouen.fr</email><idno type="halauthor">743043</idno><affiliation ref="#struct-23832"></affiliation></author><author role="aut"><persName><forename type="first">Cédric</forename><surname>Demonceaux</surname></persName><email>cedric.demonceaux@u-bourgogne.fr</email><idno type="idhal">cedric-demonceaux</idno><idno type="halauthor">655037</idno><affiliation ref="#struct-22594"></affiliation></author><author role="aut"><persName><forename type="first">Vincent</forename><surname>Fremont</surname></persName><email>vincent.fremont@hds.utc.fr</email><idno type="halauthor">419283</idno><affiliation ref="#struct-390551"></affiliation></author><editor role="depositor"><persName><forename>Cédric</forename><surname>Demonceaux</surname></persName><email>cedric.demonceaux@u-bourgogne.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2012-07-09 21:32:10</date><date type="whenModified">2016-02-10 16:18:19</date><date type="whenReleased">2012-07-09 21:32:10</date><date type="whenProduced">2012-08</date></edition><respStmt><resp>contributor</resp><name key="160834"><persName><forename>Cédric</forename><surname>Demonceaux</surname></persName><email>cedric.demonceaux@u-bourgogne.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-00716093</idno><idno type="halUri">https://hal.archives-ouvertes.fr/hal-00716093</idno><idno type="halBibtex">eynard:hal-00716093</idno><idno type="halRefHtml">Autonomous Robots, Springer Verlag, 2012, 33 (1-2), pp.157-172. <10.1007/s10514-012-9285-0></idno><idno type="halRef">Autonomous Robots, Springer Verlag, 2012, 33 (1-2), pp.157-172. <10.1007/s10514-012-9285-0></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="UNIV-PICARDIE">Université de Picardie Jules Verne</idno><idno type="stamp" n="UNIV-COMPIEGNE">Université de Technologie de Compiègne</idno><idno type="stamp" n="UNIV-LEHAVRE">Université du Havre</idno><idno type="stamp" n="UNIV-ROUEN">Université de Rouen</idno><idno type="stamp" n="LITIS">Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes</idno><idno type="stamp" n="ENSAM">Ecole Nationale Supérieure d'Arts et Métiers</idno><idno type="stamp" n="LE2I" p="UNIV-BOURGOGNE">Laboratoire Electronique, Informatique et Image</idno><idno type="stamp" n="UNIV-BOURGOGNE">Université de Bourgogne</idno><idno type="stamp" n="HEUDIASYC">Laboratoire HEUDIASYC - Heuristique et Diagnostic des Systèmes Complexes</idno><idno type="stamp" n="DI" p="HEUDIASYC">Décision, Image</idno><idno type="stamp" n="UPJV-MIS-PR">équipe Perception Robotique du laboratoire Modélisation, Information & Systèmes (Université de Picardie Jules Verne)</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision</title><author role="crp"><persName><forename type="first">Damien</forename><surname>Eynard</surname></persName><email>damien.eyn@gmail.com</email><idno type="halAuthorId">459716</idno><affiliation ref="#struct-59714"></affiliation></author><author role="aut"><persName><forename type="first">Pascal</forename><surname>Vasseur</surname></persName><email>pascal.vasseur@insa-rouen.fr</email><idno type="halAuthorId">743043</idno><affiliation ref="#struct-23832"></affiliation></author><author role="aut"><persName><forename type="first">Cédric</forename><surname>Demonceaux</surname></persName><email>cedric.demonceaux@u-bourgogne.fr</email><idno type="idHal">cedric-demonceaux</idno><idno type="halAuthorId">655037</idno><affiliation ref="#struct-22594"></affiliation></author><author role="aut"><persName><forename type="first">Vincent</forename><surname>Fremont</surname></persName><email>vincent.fremont@hds.utc.fr</email><idno type="halAuthorId">419283</idno><affiliation ref="#struct-390551"></affiliation></author></analytic><monogr><idno type="localRef">5</idno><idno type="halJournalId" status="VALID">10946</idno><idno type="issn">0929-5593</idno><idno type="eissn">1573-7527</idno><title level="j">Autonomous Robots</title><imprint><publisher>Springer Verlag</publisher><biblScope unit="volume">33</biblScope><biblScope unit="issue">1-2</biblScope><biblScope unit="pp">157-172</biblScope><date type="datePub">2012-08</date></imprint></monogr><idno type="doi">10.1007/s10514-012-9285-0</idno></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="it">UAV</term><term xml:lang="it">Hybrid stereovision</term><term xml:lang="it">Motion</term><term xml:lang="it">Attitude</term><term xml:lang="it">Altitude</term></keywords><classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode><classCode scheme="halTypology" n="ART">Journal articles</classCode></textClass><abstract xml:lang="en">Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during crit- ical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating the scale of the trans- lation. The motion can be estimated robustly at the scale, thanks to the knowledge of the altitude. We propose a robust, real-time, accurate, exclusively vision-based approach with an embedded C++ implementation. Although this approach removes the need for any non-visual sensors, it can also be coupled with an Inertial Measurement Unit.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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