Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV
Résumé
This paper presents the development of a quad-rotor robotic platform equipped with a visual and inertial motion estimation system. Our objective consists of developing a UAV capable of autonomously perform take-off, positioning, navigation and landing in unknown environments. In order to provide accurate estimates of the UAV position and velocity, stereo visual odometry and inertial measurements are fused using a Kalman Filter. Real-time experiments consisting on motion detection and autonomous positioning demonstrate the performance of the robotic platform.
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Est une version de hal-00660321 Objet présenté à une conférence Luis-Rodolfo Garcia Carrillo, Alejandro Dzul, R. Lozano, Claude Pegard. Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV. International Conference on Unmanned Aircraft Systems (ICUAS 2011), May 2011, Denver, United States. ⟨hal-00660321⟩