|
|||||
|
|
Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV |
|
| Authors: | Luis Rodolfo García Carrillo Alejandro Enrique Dzul López Rogelio Lozano Claude Pégard |
| Affiliation: | 1. Université de Technologie de Compiègne, Heudiasyc UMR CNRS, 6599, Compiègne, France 2. División de Estudios de Posgrado e Investigación Torreón, Instituto Tecnológico de la Laguna, Coahuila, México 3. UMI-LAFMIA CINVESTAV-CNRS, México D.F., México 4. Université de Picardie Jules Verne. Modélisation, Information et Systèmes, Amiens, France |
| Abstract: | 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. |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ | |