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.
Onboard optical flow and vision based localization for a quadrotor in unstructured indoor environments
2014-08-01
236111 byte
Conference paper
Electronic Resource
English
Quadrotor UAV Indoor Localization Using Embedded Stereo Camera
Trans Tech Publications | 2014
|Quadrotor UAV Indoor Localization Using Embedded Stereo Camera
British Library Conference Proceedings | 2014
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