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

Volume

13

Issue

3

fYear

2006

Firstpage

53

Lastpage

62

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;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2006.1678139

Filename

1678139