Attitude Estimation Algorithm and Verification based on Binocular Vision of Micro Aerial Vehicles

DOI

10.2991/mmebc-16.2016.190How to use a DOI?

Keywords

Micro Aerial Vehicles (MAVs), Binocular Vision, Attitude Estimation.

Abstract

Aiming at the navigation of Micro Air Vehicles (MAVs) in the natural environment, an algorithm is studied to measure the attitude of MAVs based on binocular vision. Binocular images are taken by calibrated binocular camera. The image feature points are extracted by Harris algorithm, feature points are matched with Normalized Cross Correlation (NCC) algorithm, and obtained a set of matching points. The three dimensional coordinates of the feature points can be calculated in camera coordinate system. Then the attitude of MAVs is estimated by Singular Value Decomposition (SVD) method and Least Median Squares (LMedS) theorem. The experiment result shows that the attitude estimation error is small, which can meet the requirements of MAVs navigation.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yongqin Wan
AU  - Xi Zhang
AU  - Lijing Li
PY  - 2016/06
DA  - 2016/06
TI  - Attitude Estimation Algorithm and Verification based on Binocular Vision of Micro Aerial Vehicles
BT  - Proceedings of the 2016 6th International Conference on Machinery, Materials, Environment, Biotechnology and Computer
PB  - Atlantis Press
SP  - 909
EP  - 914
SN  - 2352-5401
UR  - https://doi.org/10.2991/mmebc-16.2016.190
DO  - 10.2991/mmebc-16.2016.190
ID  - Wan2016/06
ER  -