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Conference papers

3D model-based tracking for UAV position control

Céline Teulière 1, 2 Laurent Eck 1 E. Marchand 2 Nicolas Guenard 1
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehi- cle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach.
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Submitted on : Thursday, December 9, 2010 - 12:19:19 AM
Last modification on : Thursday, January 20, 2022 - 4:19:53 PM
Long-term archiving on: : Thursday, March 10, 2011 - 1:09:14 PM


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  • HAL Id : inria-00544796, version 1


Céline Teulière, Laurent Eck, E. Marchand, Nicolas Guenard. 3D model-based tracking for UAV position control. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.1084-1089. ⟨inria-00544796⟩



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