TY - JOUR
T1 - Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
AU - Mondragón, Iván F.
AU - Campoy, Pascual
AU - Martinez, Carol
AU - Olivares, Miguel
PY - 2010/6/30
Y1 - 2010/6/30
N2 - This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used 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. Finally the tests and results using the UAV COLIBRI platform and the validation of them in real flights are presented, comparing the estimated data with the inertial values measured on board.
AB - This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used 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. Finally the tests and results using the UAV COLIBRI platform and the validation of them in real flights are presented, comparing the estimated data with the inertial values measured on board.
KW - Catadioptric systems
KW - Omnidirectional images
KW - Sky segmentation
KW - Unmanned Aerial Vehicles (UAV)
UR - http://www.scopus.com/inward/record.url?scp=77953175489&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2010.02.012
DO - 10.1016/j.robot.2010.02.012
M3 - Article
AN - SCOPUS:77953175489
SN - 0921-8890
VL - 58
SP - 809
EP - 819
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 6
ER -