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http://dx.doi.org/10.5391/JKIIS.2015.25.5.444

Performance Enhancement of the Attitude Estimation using Small Quadrotor by Vision-based Marker Tracking  

Kang, Seokyong (Department of Mechatronics Engineering, Dongseo University)
Choi, Jongwhan (Department of Mechatronics Engineering, Dongseo University)
Jin, Taeseok (Department of Mechatronics Engineering, Dongseo University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.25, no.5, 2015 , pp. 444-450 More about this Journal
Abstract
The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.
Keywords
Quadcopter; CCD camera; GPS; Attitude estimation; Template matching;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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