3D model-based tracking for UAV position control
- 1 October 2010
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1084-1089
- https://doi.org/10.1109/iros.2010.5649700
Abstract
This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehicle (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.Keywords
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