Grabe13b
V. Grabe, H. H. Bülthoff, P. Robuffo Giordano. A Comparison of Scale Estimation Schemes for a Quadrotor UAV based on Optical Flow and IMU Measurements. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Pages 5193-5200, Tokyo, Japan, November 2013.
Download [help]
Download paper: Adobe portable document (pdf)
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow
Abstract
For the purpose of autonomous UAV flight control, cameras are ubiquitously exploited as a cheap and effective onboard sensor for obtaining non-metric position or velocity measurements. Since the metric scale cannot be directly re- covered from visual input only, several methods have been proposed in the recent literature to overcome this limitation by exploiting independent "metric" information from additional onboard sensors. The flexibility of most approaches is, however, often limited by the need of constantly tracking over time a certain set of features in the environment, thus potentially suffering from possible occlusions or loss of tracking during flight. In this respect, in this paper we address the problem of estimating the scale of the observed linear velocity in the UAV body frame from direct measurement of the instantaneous (and non-metric) optical flow, and the integration of an on- board Inertial Measurement Unit (IMU) for providing (metric) acceleration readings. To this end, two different estimation techniques are developed and critically compared: a standard Extended Kalman Filter (EKF) and a novel nonlinear observer stemming from the adaptive control literature. Results based on simulated and real data recorded during a quadrotor UAV flight demonstrate the effectiveness of the approach
BibTex Reference
@InProceedings{Grabe13b,
Author = {Grabe, V. and H. Bülthoff, H. and Robuffo Giordano, P.},
Title = {{A Comparison of Scale Estimation Schemes for a Quadrotor UAV based on Optical Flow and IMU Measurements}},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013},
Pages = {5193--5200},
Address = {Tokyo, Japan},
Month = {November},
Year = {2013}
}
EndNote Reference [help]
Get EndNote Reference (.ref)