Title :
Vision-based multi-UAV position estimation
Author :
Merino, Luis ; Wiklund, Johan ; Caballero, Fernando ; Moe, Anders ; Dios, Jose Ramiro Martínez-de ; Forssén, Per-Erik ; Nordberg, Klas ; Ollero, Aníbal
Author_Institution :
Pablo de Olavide Univ., Seville
Abstract :
This paper describes a method for vision-based unmanned aerial vehicle (UAV) motion estimation from multiple planar homographies. The paper also describes the determination of the relative displacement between different UAVs employing techniques for blob feature extraction and matching. It then presents and shows experimental results of the application of the proposed technique to multi-UAV detection of forest fires
Keywords :
aerospace control; control engineering computing; feature extraction; mobile robots; motion estimation; remotely operated vehicles; robot vision; telerobotics; feature extraction; feature matching; forest fires; motion estimation; multiple planar homographies; position estimation; vision-based unmanned aerial vehicle; Application software; Cameras; Global Positioning System; Layout; Motion estimation; Robot kinematics; Robot sensing systems; Robotics and automation; Robustness; Unmanned aerial vehicles;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2006.1678139
