Authors:
Wei Zheng
1
;
Fan Zhou
1
and
Zengfu Wang
2
Affiliations:
1
University of Science and Technology of China, China
;
2
University of Science and Technology of China and Chinese Academy of Sciences, China
Keyword(s):
Vision, Pose Estimation, Quadrotor, IMU Data, Outdoors.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Pattern Recognition
;
Robotics
;
Sensors and Early Vision
;
Software Engineering
Abstract:
In this paper, an external vision based robust pose estimation system for a quadrotor in outdoor environments
has been proposed. This system could provide us with approximate ground truth of pose estimation for a
quadrotor outdoors, while most of external vision based systems perform indoors. Here, we do not modify the
architecture of the quadrotor or put colored blobs, LEDs on it. Only using the own features of the quadrotor, we
present a novel robust pose estimation algorithm to get the accurate pose of a quadrotor. With good observed
results, we get all the four rotors and calculate the pose. But when fewer than four rotors are observed, all of
existing external vision based systems of the quadrotor do not mention this and could not get right pose results.
In this paper, we have solved this problem and got accurate pose estimation with IMU(inertial measurement
unit) data. This system can provide us with approximate ground truth outdoors. We demonstrate in real
experiments that the
vision-based pose estimation system for outdoor environments can perform accurately
and robustly in real time.
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