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Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks
Escuela Politécnica Superior, Universidad Pablo de Olavide, 41013 Sevilla, Spain.
Escuela Superior de Ingenieros, Universidad de Sevilla, 41092 Sevilla, Spain.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-5698-5983
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
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2007 (English)In: Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy / [ed] Kimon P. Valavanis, Netherlands: Springer , 2007, 267-307 p.Chapter in book (Other (popular science, discussion, etc.))
Abstract [en]

This Chapter presents a vision-based method for unmanned aerial vehicle (UAV) motion estimation that uses as input an image motion field obtained from matches of point-like features. The Chapter enhances visionbased techniques developed for single UAV localization and demonstrates how they can be modified to deal with the problem of multi-UAV relative position estimation. The proposed approach is built upon the assumption that if different UAVs identify, using their cameras, common objects in a scene, the relative pose displacement between the UAVs can be computed from these correspondences under certain assumptions. However, although point-like features are suitable for local UAV motion estimation, finding matches between images collected using different cameras is a difficult task that may be overcome using blob features. Results justify the proposed approach.

Place, publisher, year, edition, pages
Netherlands: Springer , 2007. 267-307 p.
, Microprocessor-Based and Intelligent Systems Engineering, 33
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-51244DOI: 10.1007/978-1-4020-6114-1_9ISBN: 978-1-4020-6113-4 (Print)ISBN: 978-1-4020-6114-1 (Online)OAI: diva2:273757
COMETS: “Real-time coordination and control of multiple heterogeneous unmanned aerial vehicles”, IST-2001-34304
Available from: 2009-10-23 Created: 2009-10-23 Last updated: 2015-12-10

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Forssén, Per-ErikWiklund, JohanMoe, AndersNordberg, Klas
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Computer VisionThe Institute of Technology
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