Camera-Based Localization and Stabilization of a Flying Drone

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F15%3A10319128" target="_blank" >RIV/00216208:11320/15:10319128 - isvavai.cz</a>
Result on the web
<a href="http://www.aaai.org/ocs/index.php/FLAIRS/FLAIRS15/paper/view/10398/10299" target="_blank" >http://www.aaai.org/ocs/index.php/FLAIRS/FLAIRS15/paper/view/10398/10299</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Camera-Based Localization and Stabilization of a Flying Drone
Original language description
This paper describes implementation of the system controlling a flying drone to stabilize and hold the drone still regardless of external influences and inaccuracy of sensors. This task is achieved by utilizing visual monocular SLAM (Simultaneous Localization and Mapping) - tracking recognizable points in the camera image while maintaining a 3D map of those points. The output location is afterwards combined using the Kalman filter with odometry data to predict future location using drone's dynamics model. The resulting location is used afterwards for reactive control of drone's flight.
Czech name
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Czech description
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Project
<a href="/en/project/GA15-19877S" target="_blank" >GA15-19877S: Automated Knowledge and Plan Modeling for Autonomous Robots</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the Twenty-Eighth International Florida Artificial Intelligence Research Society Conference
ISBN
978-1-57735-730-8
ISSN
2334-0754
e-ISSN
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Number of pages
6
Pages from-to
372-377
Publisher name
AAAI Press
Place of publication
USA
Event location
Hollywood, Florida, USA
Event date
May 18, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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