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Authors: Jos Alejandro Dena Ruiz and Nabil Aouf

Affiliation: Cranfield University, United Kingdom

Keyword(s): UAV, Unscented Kalman Filter, Optitrack, ROS.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Optimization Problems in Signal Processing ; Real-Time Systems Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: Unmanned aerial vehicles (UAV) equipped with a navigation system and an embedded camera can be used to estimate the position of a desired target. The relative position of the UAV along with knowledge of camera orientation and imagery data can be used to produce bearing measurements that allow estimation of target position. The filter methods applied are prone to biases due to noisy measurements. Further noise may be encountered depending on the UAV trajectory for target localisation. This work presents the implementation of an Unscented Kalman Filter (UKF) to estimate the position of a target on the 3D cartesian plane within a small indoor scenario. A small UAV with a single board computer, equipped with a frontal camera and moving in an oval trajectory at a fixed height was employed. Such a trajectory enabled an experimental comparison of UAV simulation data with UAV real-time flight data for indoor conditions. Optitrack Motion system and the Robot Operative System (ROS) we re used to retrieve the drone position and exchange information at high rates. (More)

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Paper citation in several formats:
Dena Ruiz, J. and Aouf, N. (2017). Unscented Kalman Filter for Vision based Target Localisation with a Quadrotor. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 453-458. DOI: 10.5220/0006474404530458

@conference{icinco17,
author={Jos Alejandro {Dena Ruiz}. and Nabil Aouf.},
title={Unscented Kalman Filter for Vision based Target Localisation with a Quadrotor},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={453-458},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006474404530458},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Unscented Kalman Filter for Vision based Target Localisation with a Quadrotor
SN - 978-989-758-264-6
IS - 2184-2809
AU - Dena Ruiz, J.
AU - Aouf, N.
PY - 2017
SP - 453
EP - 458
DO - 10.5220/0006474404530458
PB - SciTePress

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