0000000000854518
AUTHOR
Vincent Fremont
Estimation de mouvement d'un drone à partir d'un capteur stéréo hybride
Motion and velocity are two of the most important parameters to be known for an Unmanned Aerial Vehicle (UAV) especially during critical maneuvers such as landing or steady flight. In this paper, we present mixed stereoscopic vision system made of a fish-eye camera and a perspective camera for motion estimation. Contrary to classical stereoscopic systems based on feature matching between cameras, we propose an algorithm which tracks and exploits points in each camera independently. The omnidirectional view estimates the orientation of the motion while the perspective view contribute to estimate the scale of the translation and brings accuracy. By fusing points tracked in each camera and kno…
Real time UAV altitude, attitude and motion estimation from hybrid stereovision
International audience; Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during crit- ical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating t…