On-board dual-stereo-vision for autonomous quadrotor navigation

Schauwecker, Konstantin; Zell, Andreas

doi:10.1109/icuas.2013.6564706

Cited by 22 publications

(13 citation statements)

References 18 publications

(29 reference statements)

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“…Quadrotor merupakan salah satu jenis Unmaned Aerial Vehicle (UAV) yang menggunakan penggerak empat rotor. Beberapa kelebihan quadrotor dibanding jenis UAV lainnya, diantaranya keandalannya dalam bermanuver, tidak membutuhkan tempat luas untuk mendarat, dapat lepas landas secara vertikal [1], mekaniknya sederhana dan kuat [2] serta aplikasinya sangat luas.…”

Section: Pendahuluanunclassified

Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter

Lasmadi¹

2019

ELKHA

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The navigation system on quadrotor is important to maintain stability and determine its own position when flying autonomously. The GPS can provide the position measurement, but it has limitations in the specific environments and cannot provide the orientation information. This study aims to design the navigation system for quadrotor based on IMU sensor with Kalman filters using the state space model. The system model was developed using Matlab software. Kalman filter is designed to estimate the navigation data and eliminate noise on the sensor so that it can improve the measurement accuracy. The test results showed that the system model can provide orientation estimation and translation estimation of the quadrotor, while the Kalman filter model is acceptable to reduce noise on the sensor's raw data. When tested indoors, the system can provide the measurement accuracy above 90%.

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Section: Pendahuluanunclassified

Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter

Lasmadi¹

2019

ELKHA

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“…A popular research topic is to use cameras mounted on the vehicles, performing some form of simultaneous localization and mapping (SLAM) [5]; examples include [6][7][8][9][10]. Such systems are attractive as they do not rely on any external infrastructure, and all sensors are fully contained on the vehicle.…”

Section: Introductionmentioning

confidence: 99%

A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios

Mueller

2018

Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control System

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We present a state estimator for a UAV operating in an environment equipped with ultra-wideband radio beacons. The beacons allow the UAV to measure distances to known positions in the world. The estimator additionally uses the vehicle’s rate gyroscope and accelerometer, and crucially does not rely on any knowledge of the vehicle’s dynamic properties (e.g. mass, mass moment of inertia, aerodynamic properties). This makes the estimator especially useful in situations where the exact system parameters are unknown (e.g. due to unknown payloads), or where the environment is unpredictable (e.g. wind gusts). Experimental results demonstrate the approach’s efficacy, and demonstrate that the estimator can run on low-cost microcontrollers with typical sensors.

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“…Stereo vision is the technique of constructing a 3D description of the scene from stereo image pairs, which is important in many computer vision tasks such as inspection [1], 3D object recognition [2], robot manipulation [3], and autonomous navigation [4]. Stereo vision systems can be active or passive.…”

Section: Introductionmentioning

confidence: 99%

Efficient Stereo Matching with Decoupled Dissimilarity Measure Using Successive Weighted Summation

Zhu

Chang

Wang

et al. 2014

Mathematical Problems in Engineering

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Developing matching algorithms from stereo image pairs to obtain correct disparity maps for 3D reconstruction has been the focus of intensive research. A constant computational complexity algorithm to calculate dissimilarity aggregation in assessing disparity based on separable successive weighted summation (SWS) among horizontal and vertical directions was proposed but still not satisfactory. This paper presents a novel method which enables decoupled dissimilarity measure in the aggregation, further improving the accuracy and robustness of stereo correspondence. The aggregated cost is also used to refine disparities based on a local curve-fitting procedure. According to our experimental results on Middlebury benchmark evaluation, the proposed approach has comparable performance when compared with the selected state-of-the-art algorithms and has the lowest mismatch rate. Besides, the refinement procedure is shown to be capable of preserving object boundaries and depth discontinuities while smoothing out disparity maps.

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On-board dual-stereo-vision for autonomous quadrotor navigation

Cited by 22 publications

References 18 publications

Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter

Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter

A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios

Efficient Stereo Matching with Decoupled Dissimilarity Measure Using Successive Weighted Summation

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