Localization and stabilization of micro aerial vehicles based on visual features tracking

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00224905" target="_blank" >RIV/68407700:21230/14:00224905 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6842304" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6842304</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICUAS.2014.6842304" target="_blank" >10.1109/ICUAS.2014.6842304</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Localization and stabilization of micro aerial vehicles based on visual features tracking

Popis výsledku v původním jazyce

This article presents a method for long-term autonomous micro-aerial vehicle (MAV) localization and position stabilization. The proposed method extends MAV proprietary stabilization based on inertial sensor or optical flow processing, without use of an external positioning system. The method extracts visual features from the images captured by a down-looking camera mounted under the MAV and matching these to previously observed features. Due to its precision and reliability, the method is well suited for stabilization of MAVs acting in closely cooperating compact teams with small mutual distances between team members. Performance of the proposed method is demonstrated by experiments on a quad-copter equipped with all necessary sensors and computers forthe autonomous operation.

Název v anglickém jazyce

Localization and stabilization of micro aerial vehicles based on visual features tracking

Popis výsledku anglicky

This article presents a method for long-term autonomous micro-aerial vehicle (MAV) localization and position stabilization. The proposed method extends MAV proprietary stabilization based on inertial sensor or optical flow processing, without use of an external positioning system. The method extracts visual features from the images captured by a down-looking camera mounted under the MAV and matching these to previously observed features. Due to its precision and reliability, the method is well suited for stabilization of MAVs acting in closely cooperating compact teams with small mutual distances between team members. Performance of the proposed method is demonstrated by experiments on a quad-copter equipped with all necessary sensors and computers forthe autonomous operation.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/LH11053" target="_blank" >LH11053: Řízení a lokalizace robotických rojů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-1-4799-2376-2

ISSN

—

e-ISSN

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Počet stran výsledku

6

Strana od-do

611-616

Název nakladatele

IEEE Computer society

Místo vydání

Danvers

Místo konání akce

Orlando

Datum konání akce

27. 5. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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