@article{f195e9acff0849c1923bf3ade4bf1297,
title = "Unmanned aerial vehicles UAVs attitude, height, motion estimation and control using visual systems",
abstract = "This paper presents an implementation of an aircraft pose and motion estimator using visual systems as the principal sensor for controlling an Unmanned Aerial Vehicle (UAV) or as a redundant system for an Inertial Measure Unit (IMU) and gyros sensors. First, we explore the applications of the unified theory for central catadioptric cameras for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV's attitude. Then we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Additionally, we show the use of a stereo system to calculate the aircraft height and to measure the UAV's motion. Finally, we present a visual tracking system based on Fuzzy controllers working in both a UAV and a camera pan and tilt platform. Every part is tested using the UAV COLIBRI platform to validate the different approaches, which include comparison of the estimated data with the inertial values measured onboard the helicopter platform and the validation of the tracking schemes on real flights.",
keywords = "Catadioptric systems, Fuzzy control, Motion estimation, Omnidirectional images, Stereo vision, Unmanned aerial vehicles (UAV)",
author = "Mondrag{\'o}n, \{Iv{\'a}n F.\} and Olivares-M{\'e}ndez, \{Miguel A.\} and Pascual Campoy and Carol Mart{\'i}nez and Lu{\'i}s Mejias",
note = "Funding Information: sor on Automatics at the Univer- sidad Polit{\'e}cnica Madrid (UPM), where he received his PhD in En- gineer in 1988. He is presently teaches Control, Pattern Recogni- tion and Neural Networks and Com- puter Vision at graduated and post- graduated level. He has been in charge of many research projects regarding the introduction of Com- puter Vision techniques in the In- dustry, focused in three main appli- cation areas: Automated Visual In- spection, 3D Vision and Visual In formation Management System. He has been member of the steering committees and task leader of 10 Projects funded by the European Commission. He is inventor of 6 patents in the field of Computer Vision, registered in 13 countries in Europe and South-America. His research activities have been gathered in over 100 international publications in technical journals and symposia contributions. He was founder of the company “I4: Innovation in Industrial Images Inspection”, which is a spin-off of the U.P.M. and it is aimed to transfer R\&D results to the industry in the field of Machine Vision. He is presently leading a group for Vision on UAVs, that includes object tracking, visual control and guidance, visual SLAM, stereo and omnideirectional vision. He is presently working on new learning paradigms for bio-inspired Neural Networks that are aim to be used in image segmentation, image recognition, and image coding and retrieval. Funding Information: Acknowledgements The work reported in this paper is the conclusion of several research stages at the Computer Vision Group - Uni-versidad Polit{\'e}cnica de Madrid. The authors would like to thank Jorge Leon for supporting the flight trials, the I.A. Institute - CSIC for collaborating in the flights, and the Universidad Polit{\'e}cnica de Madrid and Comunidad Aut{\'o}noma de Madrid and Fondo Social Europeo (FSE)for the authors{\textquoteright} Ph.D Scholarships. This work has been sponsored by the Spanish Science and Technology Ministry under the grant CICYT DPI 2007-66156.",
year = "2010",
month = jul,
doi = "10.1007/s10514-010-9183-2",
language = "English",
volume = "29",
pages = "17--34",
journal = "Autonomous Robots",
issn = "0929-5593",
publisher = "Springer Netherlands",
number = "1",
}