%0 Conference Proceedings
%F Teuliere10b
%A Teulière, C.
%A Eck, L.
%A Marchand, E.
%A Guenard, N.
%T 3D model-based tracking for UAV position control
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10
%P 1084-1089
%C Taipei, Taiwan
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2010_iros_teuliere.pdf
%U http://doi.org/10.1109/IROS.2010.5649700
%8 October
%D 2010