基于环境三维模型的无人微型飞行器室内导航视觉姿态估计

2015 International Conference on Mechanical Engineering, Automation and Control Systems (MEACS) Pub Date : 2015-12-01 DOI:10.1109/MEACS.2015.7414857

Alexander Buyval, Mikhail Gavrilenkov

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引用次数: 8

摘要

无人微型飞行器的主要功能是定位。如果机器人知道它在哪里，它将能够创建一个正确的路线并完成它的任务。室内环境不允许在机器人上使用GPS/GLONASS传感器。此外，激光雷达和超声波测距仪等其他传感器也有自己的缺点。本文建议采用单目摄像机作为主传感器。利用相机图像提取边缘，然后与已知环境三维模型的边缘进行比较。为了估计机器人定位的最终假设，我们使用了粒子滤波。最后，我们将定位系统开发为基于ROS的子系统，并使用Gazebo模拟器进行了测试。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Vision-based pose estimation for indoor navigation of unmanned micro aerial vehicle based on the 3D model of environment

The main function of unmanned micro aerial vehicle (UMAV) is localization. If the robot knows where it is, it will be able to create a correct route and to complete it task. An indoor environment doesn't allow using GPS/GLONASS sensors on robots. Also other sensors like LIDAR and ultrasonic ranges has its own disadvantages. In this paper we suggest to use monocular camera as main sensor. The image from camera is used to extract edges and then to compare them with edges from known 3D model of environment. To estimate a final hypothesis about robot localization we used a particle filter. Finally, we have developed our localization system as ROS based subsystem and used the Gazebo simulator for testing.

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2015 International Conference on Mechanical Engineering, Automation and Control Systems (MEACS)

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