Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters

This article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allo...

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Detalles Bibliográficos
Autores principales: Paz, Claudio, Nesmachnow, Sergio
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2017
Materias:
Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/65513
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-65513
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
spellingShingle Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
Paz, Claudio
Nesmachnow, Sergio
Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
topic_facet Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
description This article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allows the system to minimize estimation errors. The proposed implementation is evaluated on real hardware and evaluation results show that a real time implementation is feasible.
format Objeto de conferencia
Objeto de conferencia
author Paz, Claudio
Nesmachnow, Sergio
author_facet Paz, Claudio
Nesmachnow, Sergio
author_sort Paz, Claudio
title Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_short Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_full Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_fullStr Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_full_unstemmed Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_sort double coupling between inertial sensors and visual odometry in multicopters
publishDate 2017
url http://sedici.unlp.edu.ar/handle/10915/65513
work_keys_str_mv AT pazclaudio doublecouplingbetweeninertialsensorsandvisualodometryinmulticopters
AT nesmachnowsergio doublecouplingbetweeninertialsensorsandvisualodometryinmulticopters
bdutipo_str Repositorios
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