Quadrotor UAV Indoor Localization Using Embedded Stereo Camera
Localization of Small-Size Unmanned Air Vehicles (UAVs) such as the Quadrotors inGlobal Positioning System (GPS)-denied environment such as indoors has been done using varioustechniques. Most of the experiment indoors that requires localization of UAVs, used cameras or ultrasonicsensors installed indoor or applied indoor environment modification such as patching (InfraRed) IR and visual markers. While these systems have high accuracy for the UAV localization, theyare expensive and have less practicality in real situations. We propose a system consisting of a stereocamera embedded on a quadrotor UAV for indoor localization. The optical flow data from the stereocamera then are fused with attitude and acceleration data from our sensors to get better estimationof the quadrotor location. Using stereo camera capabilities the quadrotor altitude are estimated usingSIFT Feature Stereo Matching are used in addition to the altitude estimation computed using opticalflow. To avoid latency due to computational time, image processing and the quadrotor control areprocessed threads and core allocation.
R. Varatharajoo, F.I. Romli, K.A. Ahmad, D.L. Majid and F. Mustapha
S. Azrad et al., "Quadrotor UAV Indoor Localization Using Embedded Stereo Camera", Applied Mechanics and Materials, Vol. 629, pp. 270-277, 2014