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Two Imaging Systems for Positioning and Navigation
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten. Swedish Def Res Agcy FOI, Div C4ISR, Linkoping, Sweden.ORCID-id: 0000-0002-4434-8055
Swedish Def Res Agcy FOI, Div C4ISR, Linkoping, Sweden.
Swedish Def Res Agcy FOI, Div C4ISR, Linkoping, Sweden.
Saab Aeronaut, Linkoping, Sweden.
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2017 (Engelska)Ingår i: 2017 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS), IEEE , 2017, s. 120-125Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

We present two approaches for using imaging sensors on-board small unmanned aerial systems (UAS) for positioning and navigation. Two types of sensors are used; laser scanners and a camera operating in the visual wavelengths. The laser scanners produce sparse 3D data that are registered to produce a local map. For the images from the video camera the optical flow and height estimates are fused and then matched with a geo-referenced aerial image. Both approaches include data from the inertial navigation system. The approaches can be used for accurate ego-positioning, and thus for navigation. The approaches are GPS independent and can work in GPS denied conditions, for example urban canyons, indoor environments, forest areas or while jammed. Applications are primarily within societal security and military defense.

Ort, förlag, år, upplaga, sidor
IEEE , 2017. s. 120-125
Nyckelord [en]
small UAV; laser scanner; video; simultaenous localization and mapping; registration; navigation; positioning
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:liu:diva-147203DOI: 10.1109/RED-UAS.2017.8101654ISI: 000427383700021ISBN: 978-1-5386-0939-2 (tryckt)OAI: oai:DiVA.org:liu-147203DiVA, id: diva2:1197325
Konferens
Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)
Anmärkning

Funding Agencies|Swedish Armed Forces RD program; Swedish Defence Material administration

Tillgänglig från: 2018-04-12 Skapad: 2018-04-12 Senast uppdaterad: 2018-04-12

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Grönwall, Christina
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ReglerteknikTekniska fakulteten
Datorseende och robotik (autonoma system)

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Totalt: 109 träffar
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