LeHavreV1, Main, Exploration, bibRecord, 000564

Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision

Identifieur interne : 000564 ( Main/Exploration ); précédent : 000563; suivant : 000565

Real 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.

RBID : Hal:hal-00716093

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.

Url:

https://hal.archives-ouvertes.fr/hal-00716093

DOI: 10.1007/s10514-012-9285-0

Affiliations:

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 000268
to stream Hal, to step Curation: 000268
to stream Hal, to step Checkpoint: 000291
to stream Main, to step Merge: 000568
to stream Main, to step Curation: 000564

Le document en format XML

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<front><div type="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.</div>
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}}

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	Serveur d'exploration sur la visibilité du Havre
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Serveur d'exploration sur la visibilité du Havre

Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision

Real Time UAV Altitude, Attitude and Motion Estimation form Hybrid Stereovision

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