A Fast Pose Estimation Method of Four-Rotor Aircraft

Cheng Da Xu; Hong Xu Ma

doi:10.4028/www.scientific.net/AMM.599-601.1169

Paper Titles

The Measurement of Concrete Temperature Distribution Based on VB
p.1154

An Intelligent Traffic Signal Controller Based on CAN Bus
p.1158

Introduction to Computers in the Mechanical and Electrical Control is Widely Used in the Field of Industry
p.1162

Long-Endurance Multi-Function Floating Platform
p.1165

A Fast Pose Estimation Method of Four-Rotor Aircraft
p.1169

Research of Small Current Grounding Fault Classification Based on Phase Plane Method
p.1174

A Kind of Portable Wire Rope Testing Equipment
p.1178

Blind Pipe Type Fiber Bragg Grating Hydrostatic Gauge
p.1182

Research on the Detection of Focusing Mechanisms
p.1186

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 599-601A Fast Pose Estimation Method of Four-Rotor...

A Fast Pose Estimation Method of Four-Rotor Aircraft

Abstract:

In order to solve the inaccuracy and slowness of four-rotor aircraft pose estimation, a fast method is proposed. It uses FPGA+DSP as the hardware processing platform to reduce the overhead time and adopts the theory of Harris corner detection to gain the corner points’ coordinate and gray values. Then the pose of four-rotor aircraft can be calculated. The result of experiment shows that the method could estimate the pose of four-rotor aircraft accurately.

You might also be interested in these eBooks

Frontiers of Manufacturing Science and Measuring Technology IV

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 599-601)

Pages:

1169-1173

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.599-601.1169

Citation:

Cite this paper

Online since:

August 2014

Authors:

Cheng Da Xu*, Hong Xu Ma

Keywords:

Coordinate Transformation, FPGA, Harris Algorithm, Pose Estimation

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] I.F. Mondragon, P. Campoy, C. Martinez, M.A.O. Mendez, 3D pose estimation based on planar object tracking for UAVs control, International Conference on Robotics and Automation, Alaska (2010).

DOI: 10.1109/robot.2010.5509287

Google Scholar

[2] H. Romero, S. Salazar, O. Santos and R. Lozano, Visual Odometry for Autonomous Outdoor Flight of a Quadrotor UAV, International Conference on Unmanned Aircraft Systems, Atlanta, (2013).

DOI: 10.1109/icuas.2013.6564748

Google Scholar

[3] N. Shen, D.Q. Tang, F. Li, Image Processing, Position and Attitude Estimating of Visual Navigation on UAV electro-optic technology application vol. 27, no. 6, (2012).

Google Scholar

[4] G. Simon, A. Fitzgibbon, and A. Zisserman, Markerless tracking using planar structures in the scene, IEEE and ACM International Symposium, 2000, p.120–128.

DOI: 10.1109/isar.2000.880935

Google Scholar

[5] G. Simon, M.O. Berger, Pose estimation for planar structures, Computer Graphics and Applications, 2002 vol. 22, no. 6, p.46–53.

DOI: 10.1109/mcg.2002.1046628

Google Scholar