On-board and ground visual pose estimation techniques for UAV control

Carol Martínez; Iván F. Mondragón; Miguel A. Olivares-Méndez; Pascual Campoy

doi:10.1007/s10846-010-9505-9

On-board and ground visual pose estimation techniques for UAV control

Carol Martínez
, Iván F. Mondragón
, Miguel A. Olivares-Méndez
, Pascual Campoy

Technical University of Madrid

Research output: Contribution to journal › Article › peer-review

65 Scopus citations

Abstract

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter's position and using the extracted information to control the UAV.

Original language	English
Pages (from-to)	301-320
Number of pages	20
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	61
Issue number	1-4
DOIs	https://doi.org/10.1007/s10846-010-9505-9
State	Published - Jan 2011
Externally published	Yes

Keywords

3D reconstruction
Computer vision
Homography estimation
Unmanned aerial vehicle
Visual servoing

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10.1007/s10846-010-9505-9

Cite this

@article{436a2cf082e4490ebe4afcf39b59bf98,

title = "On-board and ground visual pose estimation techniques for UAV control",

abstract = "In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter's position and using the extracted information to control the UAV.",

keywords = "3D reconstruction, Computer vision, Homography estimation, Unmanned aerial vehicle, Visual servoing",

author = "Carol Mart{\'i}nez and Mondrag{\'o}n, \{Iv{\'a}n F.\} and Olivares-M{\'e}ndez, \{Miguel A.\} and Pascual Campoy",

note = "Funding Information: Acknowledgements The work reported in this paper is the product of several research stages at the Computer Vision Group of the Universidad Polit{\'e}cnica de Madrid. The authors would like to thank Jorge Le{\'o}n for supporting the flight trials. We would also like to thank the Universidad Polit{\'e}cnica de Madrid, the Consejer{\'i}a de Educaci{\'o}n de la Comunidad de Madrid and the Fondo Social Europeo (FSE) for some of the Authors{\textquoteright} PhD Scholarships. This work has been sponsored by the Spanish Science and Technology Ministry under grant CICYT DPI 2007-66156.",

year = "2011",

month = jan,

doi = "10.1007/s10846-010-9505-9",

language = "English",

volume = "61",

pages = "301--320",

journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",

issn = "0921-0296",

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number = "1-4",

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T1 - On-board and ground visual pose estimation techniques for UAV control

AU - Martínez, Carol

AU - Mondragón, Iván F.

AU - Olivares-Méndez, Miguel A.

AU - Campoy, Pascual

N1 - Funding Information: Acknowledgements The work reported in this paper is the product of several research stages at the Computer Vision Group of the Universidad Politécnica de Madrid. The authors would like to thank Jorge León for supporting the flight trials. We would also like to thank the Universidad Politécnica de Madrid, the Consejería de Educación de la Comunidad de Madrid and the Fondo Social Europeo (FSE) for some of the Authors’ PhD Scholarships. This work has been sponsored by the Spanish Science and Technology Ministry under grant CICYT DPI 2007-66156.

PY - 2011/1

Y1 - 2011/1

N2 - In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter's position and using the extracted information to control the UAV.

AB - In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter's position and using the extracted information to control the UAV.

KW - 3D reconstruction

KW - Computer vision

KW - Homography estimation

KW - Unmanned aerial vehicle

KW - Visual servoing

UR - https://www.scopus.com/pages/publications/79951509529

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SN - 0921-0296

VL - 61

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JO - Journal of Intelligent and Robotic Systems: Theory and Applications

JF - Journal of Intelligent and Robotic Systems: Theory and Applications

IS - 1-4

ER -

On-board and ground visual pose estimation techniques for UAV control

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Keywords

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