Omnidirectional Vision for UAV: Applications to Attitude, Motion and Altitude Estimation for Day and Night Conditions

被引：20

作者：

Natraj, Ashutosh ^{[1
,2
]}

Ly, Dieu Sang ^{[2
]}

Eynard, Damien ^{[3
]}

Demonceaux, Cedric ^{[2
]}

Vasseur, Pascal ^{[3
]}

机构：

[1] Univ Picardie Jules Verne, Amiens, France

[2] Univ Bourgogne, Lab LE2I, Bourgogne, France

[3] Univ Rouen, Lab LITIS, Rouen, France

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2013年 / 69卷 / 1-4期

关键词：

UAV; Omnivision; Computer vision; Altitude attitude motion estimation; CAMERAS;

D O I：

10.1007/s10846-012-9752-z

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents the combined applications of omnidirectional vision featuring on its application to aerial robotics. Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable choice for UAV applications not only in different operating environments but also in various illumination conditions.

引用

页码：459 / 473

页数：15

共 43 条

[1] Omnidirectional Vision for UAV: Applications to Attitude, Motion and Altitude Estimation for Day and Night Conditions
Ashutosh Natraj
Dieu Sang Ly
Damien Eynard
Cédric Demonceaux
Pascal Vasseur
Journal of Intelligent & Robotic Systems, 2013, 69 : 459 - 473
[2] Omnidirectional vision on UAV for attitude computation
Demonceaux, Cedric
Vasseur, Pascal
Pegard, Claude
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 2842 - +
[3] UAV altitude and attitude estimation method using stereo vision
Jung H.-H.
Lee J.-M.
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Journal of Institute of Control, Robotics and Systems, 2016, 22 (01) : 17 - 23
[4] UAV attitude computation by omnidirectional vision in urban environment
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Vasseur, Pascal
Pegard, Claude
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 2017 - +
[5] Real time UAV altitude, attitude and motion estimation from hybrid stereovision
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[6] Real time UAV altitude, attitude and motion estimation from hybrid stereovision
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Autonomous Robots, 2012, 33 : 157 - 172
[7] Large motion estimation for omnidirectional vision
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You, S
Neumann, U
IEEE WORKSHOP ON OMNIDIRECTIONAL VISION, PROCEEDINGS, 2000, : 161 - 168
[8] UAV Altitude Estimation by Mixed Stereoscopic Vision
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IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 646 - 651
[9] A Practical Approach to Motion Estimation for Omnidirectional Vision
Li, Xiaoming
Tian, Yaping
Zhao, Xiaoning
Li, Jing
PROCEEDINGS OF THE 2009 2ND INTERNATIONAL CONGRESS ON IMAGE AND SIGNAL PROCESSING, VOLS 1-9, 2009, : 1936 - 1940
[10] UAV Altitude and Attitude Stabilisation using a Coaxial Stereo Vision System
Moore, Richard J. D.
Thurrowgood, Saul
Bland, Daniel
Soccol, Dean
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2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 29 - 34

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