Low-cost vision-based 6-DOF MAV localization using IR beacons

Abstract

The autonomous operation of Micro Aerial Vehicles (MAVs) is a challenging area of research that has received much research interest in recent years. Particularly, accurate localisation of MAVs is an issue, most important during tasks that require high accuracy, such as indoor flight and landing. Many existing solutions are either not accurate, heavy or expensive. We present a low-cost vision-based solution to the localisation problem of MAVs. An on-board infrared tracking sensor with built-in vision processing is used to detect infrared markers and a point-based pose estimation algorithm is implemented to obtain 6 DOF localisation at high rates. The system performance is compared against Inertial Measurement Unit (IMU) and external stereo vision measurements as ground truth. We show that the system produces accurate 6 DOF estimates at low cost and weight in a computationally inexpensive way, and are immediately usable in control implementations. Thus our solution provides a feasible localization solution for MAVs.

Real-time, GPU-based pose estimation of a UAV for autonomous takeoff and landing

“…All of the proposed methods are able to achieve real-time performance without using external aids. In [9], the authors propose a low-cost visionbased localization system using an on-board infrared tracking sensor and infrared markers. They are able to provide 6 DOF pose estimation at high rate.…”

Multi-resolution Visual Positioning and Navigation Technique for Unmanned Aerial System Landing Assistance

“…With high flexibility and extensive vision, the high-altitude UAS estimates the position of the low-altitude UAS and controls it to finish the tracking marker and landing processes. In Roozing and Göktoŏan (2013), the authors propose a low-cost vision-based positioning solution for UAS. An on board infrared tracking sensor with built-in vision processing is used to detect infrared markers and a point-based pose estimation algorithm is implemented to obtain six Degree Of Freedom (DOF) positioning estimation at high rates.…”