TY - GEN
T1 - A 6D-pose estimation method for UAV using known lines
AU - Liu, Wenxin
AU - Yang, Shuo
AU - Liu, Ming
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/2
Y1 - 2015/10/2
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84962313218
U2 - 10.1109/CYBER.2015.7288073
DO - 10.1109/CYBER.2015.7288073
M3 - 会议稿件
AN - SCOPUS:84962313218
T3 - 2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015
SP - 953
EP - 958
BT - 2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015
Y2 - 9 June 2015 through 12 June 2015
ER -