Journal of Intelligent & Robotic Systems

, Volume 61, Issue 1–4, pp 301–320 | Cite as

On-board and Ground Visual Pose Estimation Techniques for UAV Control

  • Carol MartínezEmail author
  • Iván F. Mondragón
  • Miguel A. Olivares-Méndez
  • Pascual Campoy


In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter’s position and using the extracted information to control the UAV.


Computer vision Unmanned aerial vehicle Homography estimation 3D reconstruction Visual servoing 


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Carol Martínez
    • 1
    Email author
  • Iván F. Mondragón
    • 1
  • Miguel A. Olivares-Méndez
    • 1
  • Pascual Campoy
    • 1
  1. 1.Computer Vision Group, Centro de Automática y Robótica (CAR)Universidad Politécnica de MadridMadridSpain

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