Error analysis of algorithms for camera rotation calculation in GPS/IMU/camera fusion for UAV sense and avoid systems

Zsedrovits, Tamás and Bauer, Péter and Zarándy, Ákos and Vanek, Bálint and Bokor, József and Roska, Tamás (2014) Error analysis of algorithms for camera rotation calculation in GPS/IMU/camera fusion for UAV sense and avoid systems. In: 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014. IEEE Computer Society, Piscataway, pp. 864-875. ISBN 9781479923762 10.1109/ICUAS.2014.6842334

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Abstract

In this paper four camera pose estimation algorithms are investigated in simulations. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion. © 2014 IEEE.

Item Type: Book Section
Uncontrolled Keywords: Algorithms; Sense and avoid systems; National air spaces; Camera pose estimation; Attitude estimation; Attitude estimates; analysis of algorithms; Unmanned vehicles; Unmanned aerial vehicles (UAV); sensors; global positioning system; Field programmable gate arrays (FPGA); Cameras; AIRCRAFT; UAV; Sensor fusion; IMU; GPS; FPGA; CAMERA
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Systems and Control Lab
SWORD Depositor: MTMT Injector
Depositing User: MTMT Injector
Date Deposited: 26 Jan 2015 11:34
Last Modified: 16 Feb 2016 19:22
URI: http://eprints.sztaki.hu/id/eprint/8092

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