Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/69835
Title: Design and implementation of homography-based vision-aided inertial navigation of UAVs
Authors: Zhao, S.
Dong, X.
Cui, J.
Ang, Z.Y.
Lin, F. 
Peng, K. 
Chen, B.M.
Lee, T.H. 
Keywords: Extended Kalman filter
homography
vision-based navigation
Issue Date: 18-Oct-2013
Source: Zhao, S.,Dong, X.,Cui, J.,Ang, Z.Y.,Lin, F.,Peng, K.,Chen, B.M.,Lee, T.H. (2013-10-18). Design and implementation of homography-based vision-aided inertial navigation of UAVs. Chinese Control Conference, CCC : 5101-5106. ScholarBank@NUS Repository.
Abstract: This paper presents a novel vision-aided inertial navigation system for navigating a small-scale unmanned aerial vehicle (UAV) in unmapped and GPS-denied environments. Suppose the UAV is equipped with a low-cost inertial measurement unit (IMU), a downward-looking camera, a barometer and a compass. By fusing the measurements of the four sensors using an extended Kalman filter, we can obtain drift-free estimates of the velocity and attitude of the UAV. In the meantime, the drift of the UAV position can be significantly reduced and the unknown biases in the IMU measurements can be identified online. The vision measurement in our navigation system is a homography matrix, which can provide the velocity and attitude information of the UAV. We show flight experimental results to verify the effectiveness and robustness of the proposed navigation system. © 2013 TCCT, CAA.
Source Title: Chinese Control Conference, CCC
URI: http://scholarbank.nus.edu.sg/handle/10635/69835
ISBN: 9789881563835
ISSN: 19341768
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

53
checked on Dec 16, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.