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Monocular vision based autonomous navigation for a cost-effective MAV in GPS-denied environments

conference contribution
posted on 2013-09-16, 00:00 authored by I Sa, H He, Van Thanh HuynhVan Thanh Huynh, P Corke
In this paper, we present a monocular vision based autonomous navigation system for Micro Aerial Vehicles (MAVs) in GPS-denied environments. The major drawback of monocular systems is that the depth scale of the scene can not be determined without prior knowledge or other sensors. To address this problem, we minimize a cost function consisting of a drift-free altitude measurement and up-to-scale position estimate obtained using the visual sensor. We evaluate the scale estimator, state estimator and controller performance by comparing with ground truth data acquired using a motion capture system. All resources including source code, tutorial documentation and system models are available online 4 .

History

Pagination

1355-1360

Location

Wollongong, N.S.W.

Start date

2013-07-09

End date

2013-07-12

ISBN-13

9781467353199

Language

eng

Publication classification

E Conference publication, E1.1 Full written paper - refereed

Copyright notice

2013, IEEE

Title of proceedings

AIM 2013 : Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Event

IEEE/ASME Advanced intelligent Mechatronics. International Conference (2013 : Wollongong, N.S.W.)

Publisher

IEEE

Place of publication

Piscataway, N.J.

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