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http://dx.doi.org/10.5302/J.ICROS.2016.15.0202

UAV Altitude and Attitude Estimation Method Using Stereo Vision  

Jung, Ha-Hyoung (Department of Electronics Engineering, Chungnam National University)
Lee, Jun-Min (Department of Electronics Engineering, Chungnam National University)
Lyou, Joon (Department of Electronics Engineering, Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.1, 2016 , pp. 17-23 More about this Journal
Abstract
This paper presents the implementation of altitude and attitude measurement algorithm using stereo camera for an unmanned aerial vehicle (UAV). Depth images are generated by calibrating the stereo cameras, and converted into 3D point cloud data. By applying a plane fitting algorithm to the resultant point cloud, altitude from ground level, and roll and pitch angles are extracted. To verify the performance, experimental results are provided by comparing with those of the motion caption system.
Keywords
UAV; stereo-camera; altitude; attitude; RANSAC;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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