Robust Attitude Estimation with Catadioptric Vision - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2006

Robust Attitude Estimation with Catadioptric Vision

Résumé

Attitude (roll and pitch) is an essential data for the navigation of a UAV. Rather than using inertial sensors, we propose a catadioptric vision system allowing a fast, robust and accurate estimation of these angles. We show that the optimization of a sky/ground partitioning criterion associated with the specific geometric characteristics of the catadioptric sensor provides very interesting results. Experimental results obtained on real sequences are presented and compared with inertial sensors measures.
Fichier principal
Vignette du fichier
iros2006.pdf (767.57 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01781423 , version 1 (30-04-2018)

Identifiants

  • HAL Id : hal-01781423 , version 1

Citer

Cédric Demonceaux, Pascal Vasseur, Claude Pegard. Robust Attitude Estimation with Catadioptric Vision. EEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Oct 2006, Pékin, China. ⟨hal-01781423⟩
18 Consultations
95 Téléchargements

Partager

Gmail Facebook X LinkedIn More