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Authors: Anand Abhishek and K. S. Venkatesh

Affiliation: IIT Kanpur, India

ISBN: 978-989-758-091-8

Keyword(s): Implicit Extended Kalman Filter, UAV, Autonomous Navigation, Epipolar Constraint, IMU, Planar Constraint.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Optical Flow and Motion Analyses ; Pattern Recognition ; Robotics ; Software Engineering ; Tracking and Visual Navigation

Abstract: Unmanned aerial vehicle(UAV) are widely used for commercial and military purposes. Various computer vision based methodologies are used for aid in autonomous navigation. We have presented an implicit extended square root Kalman filter based approach to estimate the states of an UAV using only onboard camera which can be either used alone or assimilated with the IMU output to enable reliable, accurate and robust navigation. Onboard camera present information rich sensor alternative for obtaining useful information form the craft, with the added benefits of being light weight, small and no extra payload. The craft system model is based on differential epipolar constraint with planar constraint assuming the scene is slowly moving. The optimal state is then estimated using current measurement and defined the system model. Pitch and roll is also estimated from above formulations. The algorithms results are compared with real time data collected from the IMU.

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Paper citation in several formats:
Abhishek A. and Venkatesh K. (2015). UAV Autonomous Motion Estimation Methodologies.In Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015) ISBN 978-989-758-091-8, pages 543-550. DOI: 10.5220/0005302805430550

@conference{visapp15,
author={Anand Abhishek and K. S. Venkatesh},
title={UAV Autonomous Motion Estimation Methodologies},
booktitle={Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015)},
year={2015},
pages={543-550},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005302805430550},
isbn={978-989-758-091-8},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015)
TI - UAV Autonomous Motion Estimation Methodologies
SN - 978-989-758-091-8
AU - Abhishek A.
AU - Venkatesh K.
PY - 2015
SP - 543
EP - 550
DO - 10.5220/0005302805430550

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