Title :
Vision-based localization of a quad-rotor system
Author :
Seungho Jeong ; Seul Jung
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea
Abstract :
This paper presents the localization of a quad-rotor system using a camera for indoor application. To localize the quad-rotor system with a camera, several practical issues are addressed. Firstly, radially distorted images by a convex lens should be corrected. Secondly, markers are used to detect the position and the heading angle of the system. Lastly, position with respect to different heights should be calibrated. Experimental studies confirm the localization based on a vision system.
Keywords :
autonomous aerial vehicles; calibration; cameras; lenses; optical distortion; path planning; position control; robot vision; camera; convex lens; heading angle; indoor application; quadrotor system; radially distorted images; vision system; vision-based localization; Ambient intelligence; Calibration; Cameras; Lenses; Robot vision systems; Quad-rotors; calibration; position control; vision system;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463105
