Vision based attitude and altitude estimation for UAVs in dark environments
Identifieur interne : 000370 ( Hal/Curation ); précédent : 000369; suivant : 000371Vision based attitude and altitude estimation for UAVs in dark environments
Auteurs : Ashutosh Natraj [France] ; Cédric Demonceaux [France] ; Pascal Vasseur [France] ; Peter Sturm [France]Source :
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.
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DOI: 10.1109/IROS.2011.6094681
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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></TEI><hal api="V3"><titleStmt><title xml:lang="en">Vision based attitude and altitude estimation for UAVs in dark environments</title><author role="aut"><persName><forename type="first">Ashutosh</forename><surname>Natraj</surname></persName><email></email><idno type="halauthor">666175</idno><affiliation ref="#struct-59714"></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">Pascal</forename><surname>Vasseur</surname></persName><email>pascal.vasseur@univ-rouen.fr</email><idno type="halauthor">665359</idno><affiliation ref="#struct-23832"></affiliation></author><author role="aut"><persName><forename type="first">Peter</forename><surname>Sturm</surname></persName><email>Peter.Sturm@inria.fr</email><idno type="idhal">petersturm</idno><idno type="halauthor">97530</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-108956"></affiliation></author><editor role="depositor"><persName><forename>Peter</forename><surname>Sturm</surname></persName><email>Peter.Sturm@inria.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2011-12-03 20:05:32</date><date type="whenModified">2016-02-10 16:18:19</date><date type="whenReleased">2011-12-03 20:05:32</date><date type="whenProduced">2011-09-25</date></edition><respStmt><resp>contributor</resp><name key="111518"><persName><forename>Peter</forename><surname>Sturm</surname></persName><email>Peter.Sturm@inria.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-00647951</idno><idno type="halUri">https://hal.inria.fr/hal-00647951</idno><idno type="halBibtex">natraj:hal-00647951</idno><idno type="halRefHtml">IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE, pp.4006-4011, 2011, <http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094681>. <10.1109/IROS.2011.6094681></idno><idno type="halRef">IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE, pp.4006-4011, 2011, <http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094681>. <10.1109/IROS.2011.6094681></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="UNIV-GRENOBLE1" p="UGA">Université Joseph Fourier - Grenoble I</idno><idno type="stamp" n="UNIV-PICARDIE">Université de Picardie Jules Verne</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="INRIA-RHA">INRIA Grenoble - Rhône-Alpes</idno><idno type="stamp" n="LITIS">Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes</idno><idno type="stamp" n="LJK_MAD" p="LJK">Département Modèles et Algorithmes Déterministes</idno><idno type="stamp" n="LJK" p="UGA">Laboratoire Jean Kuntzmann</idno><idno type="stamp" n="LJK_MAD_STEEP" p="LJK_MAD">STEEP</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="INPG" p="UGA">Institut polytechnique de Grenoble</idno><idno type="stamp" n="UGA">HAL Grenoble Alpes</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="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Vision based attitude and altitude estimation for UAVs in dark environments</title><author role="aut"><persName><forename type="first">Ashutosh</forename><surname>Natraj</surname></persName><idno type="halAuthorId">666175</idno><affiliation ref="#struct-59714"></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">Pascal</forename><surname>Vasseur</surname></persName><email>pascal.vasseur@univ-rouen.fr</email><idno type="halAuthorId">665359</idno><affiliation ref="#struct-23832"></affiliation></author><author role="aut"><persName><forename type="first">Peter</forename><surname>Sturm</surname></persName><email>Peter.Sturm@inria.fr</email><idno type="idHal">petersturm</idno><idno type="halAuthorId">97530</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-108956"></affiliation></author></analytic><monogr><meeting><title>IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems</title><date type="start">2011-09-25</date><date type="end">2011-09-30</date><settlement>San Francisco</settlement><country key="US">United States</country></meeting><imprint><publisher>IEEE</publisher><biblScope unit="pp">4006-4011</biblScope><date type="datePub">2011</date></imprint></monogr><idno type="doi">10.1109/IROS.2011.6094681</idno><ref type="publisher">http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094681</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><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.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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