A 6D-pose estimation method for UAV using known lines

This paper introduces efficient 6D global pose estimation algorithms for an unmanned aerial vehicle (UAV) using known lines. The algorithms are designed in the context of International Aerial Robotics Competition (IARC) Mission-7. Two algorithms are introduced in this paper. The first one is to first localize the UAV on a line using two known lines, then the precise position is refined by a third point. The second algorithm recovers the pose of the UAV by observation of a corner of the playground. 3D UAV attitude can also be calculated. Validation results indicate the accuracy and robustness of both algorithms.