Pose Estimation for Multicopters Based on Off-Board Multiple Cameras

被引：0
|
作者：
Fu, Qiang [1 ,2 ]
Mu, Xinxing [1 ]
He, Wei [1 ,2 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China
来源：
2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
KALMAN-FILTER; CALIBRATION; VISION;
D O I：
10.1109/icarm.2019.8834008
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Pose estimation is a crucial issue for the control of multicopters. Based on a process model specially designed for multicopters and a generic camera model, an extended Kalman filter (EKF) method is proposed to estimate the pose of multicopters by using off-board multiple cameras in this paper. It is appropriate not only for multiple conventiona/fish-eye cameras but also for a single conventional/fish-eye camera. Simulation experiments show the proposed method performs more robustly in the case of marker missing than the commonly used method, while giving comparable accuracy.
引用
收藏
页码：611 / 615
页数：5
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