Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks
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.))
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
Engineering and Technology
IdentifiersURN: 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: oai:DiVA.org:liu-51244DiVA: diva2:273757
ProjectsCOMETS: “Real-time coordination and control of multiple heterogeneous unmanned aerial vehicles”, IST-2001-34304