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http://dx.doi.org/10.5139/JKSAS.2009.37.12.1209

Vision-based Small UAV Indoor Flight Test Environment Using Multi-Camera  

Won, Dae-Yeon (KAIST 항공우주공학 대학원)
Oh, Hyon-Dong (KAIST 항공우주공학 대학원)
Huh, Sung-Sik (KAIST 항공우주공학 대학원)
Park, Bong-Gyun (KAIST 항공우주공학 대학원)
Ahn, Jong-Sun (KAIST 항공우주공학 대학원)
Shim, Hyun-Chul (KAIST 항공우주공학)
Tahk, Min-Jea (KAIST 항공우주공학)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.37, no.12, 2009 , pp. 1209-1216 More about this Journal
Abstract
This paper presents the pose estimation of a small UAV utilizing visual information from low cost cameras installed indoor. To overcome the limitation of the outside flight experiment, the indoor flight test environment based on multi-camera systems is proposed. Computer vision algorithms for the proposed system include camera calibration, color marker detection, and pose estimation. The well-known extended Kalman filter is used to obtain an accurate position and pose estimation for the small UAV. This paper finishes with several experiment results illustrating the performance and properties of the proposed vision-based indoor flight test environment.
Keywords
Vision-based Control; Extended Kalman Filter; Multi-Camera System; Flight Test Environment;
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