On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors

被引:0
|
作者
Dias, Duarte [1 ,2 ]
Ventura, Rodrigo [2 ]
Lima, Pedro [2 ]
Martinoli, Alcherio [1 ]
机构
[1] Ecole Polytech Fed Lausanne, Distributed Intelligent Syst & Algorithms Lab, Sch Architecture Civil & Environm Engn, CH-1015 Lausanne, Switzerland
[2] Univ Lisbon, IST, Inst Syst & Robot, Lisbon, Portugal
关键词
NAVIGATION;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This work proposes a novel relative localization system, based on active markers and an on-board camera, for tracking multiple quadrotors in a limited field of view. The system extracts the 3D poses of the markers including one that, by pulsating at a predefined frequency, provides an unique platform ID. We discuss how the camera field of view can be explored in presence of multiple targets, and what are the conditions on the system visibility that lead to the establishment of bidirectional sensing between robots with similar sensing capabilities. A visibility analysis is conducted to show that the developed relative localization system meets such requirements, and a closed-loop experiment is used to validate its performance under these conditions. Finally, its performance is compared with other results from the literature, and a metric is established with the intent of mapping different design solutions, facilitating design choices in presence of different requirements.
引用
收藏
页码:1181 / 1187
页数:7
相关论文
共 50 条
  • [1] On-board Odometry Estimation for 3D Vision-based SLAM of Humanoid Robot
    Ahn, SungHwan
    Yoon, Sukjune
    Hyung, Seungyong
    Kwak, Nosan
    Roh, Kyung Shik
    [J]. 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2012, : 4006 - 4012
  • [2] Vision-based on-board collision avoidance system to aircraft navigation
    Candamo, Joshua
    Kasturi, Rangachar
    Goldgof, Dmitry
    Sarkar, Sudeep
    [J]. UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2, 2006, 6230
  • [3] A Monocular Vision-based System for 6D Relative Robot Localization
    Breitenmoser, Andreas
    Kneip, Laurent
    Siegwart, Roland
    [J]. 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, : 79 - 85
  • [4] Vision-based control of a mobile base and on-board arm
    Cárdenas, A
    Goodwine, B
    Skaar, S
    Seelinger, M
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2003, 22 (09): : 677 - 698
  • [5] Low Cost Vision-based 3D Localization System for Indoor Unmanned Aerial Vehicles
    Andrean, Stefio Yosse
    Joelianto, Endra
    Widyotriatmo, Augie
    Adiprawita, Widyawardana
    [J]. 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, BIOMIMETICS, AND INTELLIGENT COMPUTATIONAL SYSTEMS (ROBIONETICS), 2013, : 237 - 241
  • [6] Switching models for vision-based on-board road detection
    Lombardi, P
    Zanin, M
    Messelodi, S
    [J]. 2005 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), 2005, : 67 - 72
  • [7] A multiple UAV system for vision-based search and localization
    Tisdale, John
    Ryan, Allison
    Kim, Zu
    Tornqvist, David
    Hedrick, J. Karl
    [J]. 2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2008, : 1985 - +
  • [8] Recovering the 3D shape of a road by on-board monocular vision
    Chausse, F
    Aufrère, R
    Chapuis, R
    [J]. 15TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOL 1, PROCEEDINGS: COMPUTER VISION AND IMAGE ANALYSIS, 2000, : 325 - 328
  • [9] Vision-Based System for 3D Tower Crane Monitoring
    Gutierrez, Ricardo
    Magallon, Monica
    Hernandez Jr, Danilo Caceres
    [J]. IEEE SENSORS JOURNAL, 2021, 21 (10) : 11935 - 11945
  • [10] VISION-BASED RELATIVE NAVIGATION USING 3D SCALE SPACE THEORY
    Jagat, Ashish
    Rhodes, Andrew
    Christian, John
    [J]. SPACEFLIGHT MECHANICS 2016, PTS I-IV, 2016, 158 : 4615 - 4627