External Vision based Robust Pose Estimation System for a Quadrotor in Outdoor Environments

Wei Zheng, Fan Zhou, Zengfu Wang

2014

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.

Paper Citation

in Harvard Style

Zheng W., Zhou F. and Wang Z. (2014). External Vision based Robust Pose Estimation System for a Quadrotor in Outdoor Environments . In Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-018-5, pages 718-723. DOI: 10.5220/0004906007180723

in Bibtex Style

@conference{icpram14,
author={Wei Zheng and Fan Zhou and Zengfu Wang},
title={External Vision based Robust Pose Estimation System for a Quadrotor in Outdoor Environments},
booktitle={Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2014},
pages={718-723},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004906007180723},
isbn={978-989-758-018-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - External Vision based Robust Pose Estimation System for a Quadrotor in Outdoor Environments
SN - 978-989-758-018-5
AU - Zheng W.
AU - Zhou F.
AU - Wang Z.
PY - 2014
SP - 718
EP - 723
DO - 10.5220/0004906007180723