@inproceedings{3ab39f918bca43ad84ad93b41cacbc93,
title = "Pose Estimation for Multicopters Based on Monocular Vision and AprilTag",
abstract = "This paper deals with the problem of pose estimation for multicopters by using a downward-looking monocular camera and AprilTag. First, successive AprilTag images are captured by the downward-looking camera and the relative pose between them is estimated using a vision algorithm directly. Then, a Kalman filter combined with a constant-velocity process model is adopted to improve the accuracy and robustness of pose estimation. Experimental results show that the proposed pose estimation method can satisfy closed-loop control requirements of multicopters.",
keywords = "AprilTag, Closed-loop Control, Monocular Camera, Multicopters, Pose Estimation",
author = "Guo Zhenglong and Fu Qiang and Quan Quan",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483685",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4717--4722",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "美国",
}