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International Conference on Augmented Reality, Virtual Reality and Computer Graphics

AVR 2018: Augmented Reality, Virtual Reality, and Computer Graphics pp 547–561Cite as

Robust Motion Estimation Based on Multiple Monocular Camera for Indoor Autonomous Navigation of Micro Aerial Vehicle

Part of the Lecture Notes in Computer Science book series (LNIP,volume 10851)

Abstract

This paper is focusing on the development of a system based on computer vision to estimate the movement of an MAV (X, Y, Z and yaw). The system integrates elements such as: a set of cameras, image filtering (physical and digital), and estimation of the position through the calibration of the system and the application of an algorithm based on experimentally found equations. The system represents a low cost alternative, both computational and economic, capable of estimating the position of an MAV with a significantly low error using a scale in millimeters, so that almost any type of camera available in the market can be used. This system was developed in order to offer an affordable form of research and development of new autonomous and intelligent systems for closed environments.

Keywords

  • Computer vision
  • Cameras array
  • Quadrotor
  • Motion estimation
  • Path planning
  • MAV
  • Control system

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  • DOI: 10.1007/978-3-319-95282-6_39
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Acknowledgement

This work is part of the project “Perception and localization system for autonomous navigation of rotor micro aerial vehicle in gps-denied environments, VisualNavDrone”, 2016-PIC-024, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.

Author information

Authors and Affiliations

  1. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, José F. Manosalvas, Joan A. Guillén & Brayan Collaguazo

  2. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Wilbert G. Aguilar
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  2. José F. Manosalvas
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  3. Joan A. Guillén
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  4. Brayan Collaguazo
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. University of Salento, Lecce, Italy

    Lucio Tommaso De Paolis

  2. University of Paris-Sud, Orsay, France

    Patrick Bourdot

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Aguilar, W.G., Manosalvas, J.F., Guillén, J.A., Collaguazo, B. (2018). Robust Motion Estimation Based on Multiple Monocular Camera for Indoor Autonomous Navigation of Micro Aerial Vehicle. In: De Paolis, L., Bourdot, P. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2018. Lecture Notes in Computer Science(), vol 10851. Springer, Cham. https://doi.org/10.1007/978-3-319-95282-6_39

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  • DOI: https://doi.org/10.1007/978-3-319-95282-6_39

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