Multi-sensor fusion based pose estimation for UAVs (unmanned aerial vehicles) on ships was proposed in this paper. For take-off and landing of UAVs on ships, the novel artificial landmark was presented which could obtain accurate unique result and eliminate the pose ambiguity effectively. IMU data was effectively employed for pose estimation. EPnP algorithm was performed to get the initial estimation. Then the modified RPP method was proposed which employed both IMU data and vision information. Based on the planar target, the accurate and robust pose estimation of the quadrotor was obtained. The results of pose estimation were analysed and verified by the simulation and real experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multi-sensor fusion based pose estimation for unmanned aerial vehicles on ships


    Contributors:
    Zheng, Wei (author) / Yan, Bing (author) / Wang, Zengfu (author)


    Publication date :

    2016-08-01


    Size :

    985612 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION

    G. Abdi / F. Samadzadegan / F. Kurz | DOAJ | 2016

    Free access


    Model-based Automated Intent Estimation of Unmanned Aerial Vehicles with Sensor Fusion

    Aziz, Dyar / Garretson, Markus / Hieb, Michael R. et al. | IEEE | 2024


    Vision-based pose estimation of a multi-rotor unmanned aerial vehicle

    Gupta, Kashish / Emran, Bara Jamal / Najjaran, Homayoun | Emerald Group Publishing | 2019


    State estimation for aerial vehicles using multi-sensor fusion

    SCHERER SEBASTIAN / YU SONG / NUSKE STEPHEN | European Patent Office | 2019

    Free access