2010 · 39 citations · 19 references
EngineeringComputer ScienceRobotics EngineeringAerial RoboticsRoboticsSensor FusionAircraft ControlIndoor LocalizationPose EstimationRobot LocalizationTracking Systems3D Pose EstimationHierarchical Model-based ControlModel-based TrackingMultiple Hypothesis TrackingPosition ControlRobot Pose TrackingRobust Pose TrackingUnmanned Aerial Vehicle Control
This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehicle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach.
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