UAV Control on the Basis of 3D Landmark Bearing-Only Observations

UAV Control on the Basis of 3D Landmark Bearing-Only Observations

The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter ba...

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Bibliographic Details
Main Authors: Simon Karpenko, Ivan Konovalenko, Alexander Miller, Boris Miller, Dmitry Nikolaev
Format: Article
Language:English
Published: MDPI AG 2015-11-01
Series:Sensors
Subjects:
UAV
visual odometry
projective geometry
video stream
feature points
modified Kalman filter
control
Online Access:http://www.mdpi.com/1424-8220/15/12/29768

Internet

http://www.mdpi.com/1424-8220/15/12/29768

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