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C. Teulière, L. Eck, E. Marchand, N. Guenard. 3D model-based tracking for UAV position control. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 1084-1089, Taipei, Taiwan, October 2010.

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This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehi- cle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach


Eric Marchand

BibTex Reference

   Author = {Teulière, C. and Eck, L. and Marchand, E. and Guenard, N.},
   Title = {3D model-based tracking for UAV position control},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10},
   Pages = {1084--1089},
   Address = {Taipei, Taiwan},
   Month = {October},
   Year = {2010}

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