This paper considers problem of localization for an aerial robot in unstructured indoor environments. A vision correction method based on linear characteristics is proposed. The dynamic model is established using an optical flow sensor. Use a strap-down camera to capture the frame of perpendicular line on the ground, and calculate the global position of their intersection point. As an observation, the vision position is input to the KALMAN filter in order to eliminate the accumulated error. Experimental results from indoor hover test verified the accuracy and real-time of the approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Onboard optical flow and vision based localization for a quadrotor in unstructured indoor environments


    Contributors:
    Gao, Qingji (author) / Wang, Yao (author) / Hu, Dandan (author)


    Publication date :

    2014-08-01


    Size :

    236111 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    The Autonomous Flight of an Indoor Quadrotor Using Onboard Vision

    Shi, Yingjing / Li, Rui / Zhou, Chen | IEEE | 2024


    An Indoor Vision-Based Markov Localization Technique of a Quadrotor

    Ali, Fares Tarek / AbdulAziz Fahmy, Omar / El-Badawy, Ayman A. | IEEE | 2019


    Quadrotor Flight in Constrained Indoor Environments

    Antonio Matus-Vargas | BASE | 2020

    Free access

    Quadrotor UAV Indoor Localization Using Embedded Stereo Camera

    Azrad, Syaril ;Fadhil, Mohammad ;Kendoul, Farid | Trans Tech Publications | 2014


    Quadrotor UAV Indoor Localization Using Embedded Stereo Camera

    Azrad, S. / Fadhil, M. / Kendoul, F. et al. | British Library Conference Proceedings | 2014