A209 Localization of MAV in GPS-Denied Environment Using Embedded Stereo Camera

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概要

• 論文の詳細を見る

• Localization of Micro-Air Vehicles (MAVs) in GPS-denied environment such as indoors has been done using various techniques. Most of the experiment indoors that requires localization of MAVs, used cameras or ultrasonic sensors set indoor or indoor environment modification such as patching IR and visual markers. While these systems have high accuracy for the MAV localization, their costs are expensive and have less practicality in real situations. We propose a system consisting of a stereo camera embedded on a MAV for indoor localization. We propose a fusion of optical flow, distance data from the camera with attitude and acceleration data for the localization problem.

• 一般社団法人日本機械学会の論文
• 2011-06-28

著者

• Nonami Kenzo

  Faculty Of Engineering Chiba University

• FADHIL Mohamad

  Faculty of Mechanical Engineering, Chiba University

• SONG Yuze

  Faculty of Mechanical Engineering, Chiba University

• NONAMI Kenzo

  Faculty of Mechanical Engineering, Chiba University

• AZRAD Syaril

  Faculty of Mechanical Engineering, Chiba University

• KENDOUL Farid

  Autonomous System Laboratory, Commonwealth Scientific and Industrial Research Organisation (CSIRO)

• IWAKURA Daisuke

  Faculty of Mechanical Engineering, Chiba University

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• A209 Localization of MAV in GPS-Denied Environment Using Embedded Stereo Camera

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