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ICRA
2002
IEEE

Multiple View Motion Estimation and Control for Landing an Unmanned Aerial Vehicle

9 years 4 months ago
Multiple View Motion Estimation and Control for Landing an Unmanned Aerial Vehicle
We present a multiple view algorithm for vision based landing of an unmanned aerial vehicle. Our algorithm is based on our recent results in multiple view geometry which exploit the rank deficiency of the so called multiple view matrix. We show how the use of multiple views significantly improves motion and structure estimation. We compare our algorithm to our previous linear and non-linear two-view algorithms using an actual flight test. Our results show that the vision-based state estimates are accurate to within 7cm in each axis of translation and 4 degrees in each axis of rotation.
Omid Shakernia, René Vidal, Courtney S. Sha
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Omid Shakernia, René Vidal, Courtney S. Sharp, Yi Ma, Shankar Sastry
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