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High-frequency MAV state estimation using low-cost inertial and optical flow measurement units

Autor
Santamaria, A.; Solá, J.; Andrade-Cetto, J.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Any de l'edició
2015
Data de presentació
2015
Llibre d'actes
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015
Pàgina inicial
1864
Pàgina final
1871
Editor
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2015.7353621 Obrir en finestra nova
Projecte finançador
FP7-ICT- 287617 Aerial Robotics Cooperative Assembly System
Perception and Action in Robotics Problems with Large State Spaces DPI2011-27510 National Project
Repositori
http://hdl.handle.net/2117/84560 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7353621 Obrir en finestra nova
Resum
The paper has supplementary downloadable material available at http://ieeexplore.ieee.org, provided by the authors. The material includes a video of the state estimation presented in the paper. This paper develops a new method for 3D, high rate vehicle state estimation, specially designed for free-flying Micro Aerial Vehicles (MAVs). We fuse observations from inertial and optical flow low-cost measurement units, and extend the current use of this optical sensors from hoverin...
Citació
Santamaria, A., Solá, J., Andrade-Cetto, J. High-frequency MAV state estimation using low-cost inertial and optical flow measurement units. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015". Hamburg: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1864-1871.
Paraules clau
Aerospace Robotics, Mobile Robots, Sensor Fusion, Filtering, State Estimation
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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