.png){kind=icon}
返回
Vision Based Position Control for MAVs Using One Single Circular Landmark
.png){kind=icon}
OA
AI
DOI：10.1007/s10846-010-9494-8.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper presents a real-time vision based algorithm for 5 degrees-of-freedom pose estimation and set-point control for a Micro Aerial Vehicle (MAV). The camera is mounted on-board a quadrotor helicopter. Camera pose estimation is based on the appearance of two concentric circles which are used as landmark. We show that that by using a calibrated camera, conic sections, and the assumption that yaw is controlled independently, it is possible to determine the six degrees-of-freedom pose of the MAV. First we show how to detect the landmark in the image frame. Then we present a geometric approach for camera pose estimation from the elliptic appearance of a circle in perspective projection. Using this information we are able to determine the pose of the vehicle. Finally, given a set point in the image frame we are able to control the quadrotor such that the feature appears in the respective target position. The performance of the proposed method is presented through experimental results.
Keyword:
Micro aerial vehicle
Computer vision
Structure from motion
Object detection
Camera calibration
Autonomous flight
Helicopter
Quadrocopter
Pose estimation
期刊
J
IF:
2.8
论文数:
3.9K
被引数:
6.9K
机构
引用论文
.png){kind=icon}
RANDOM SAMPLE CONSENSUS - A PARADIGM FOR MODEL-FITTING WITH APPLICATIONS TO IMAGE-ANALYSIS AND AUTOMATED CARTOGRAPHY随机样本共识-模型拟合的范例，可应用于图像分析和自动制图OAAI
OAAI分享收藏
查看更多内容