文章基本信息

标题：Detection and Estimation of Moving obstacles for a UAV
本地全文：下载
作者：Thi Thoa Mac ; Cosmin Copot ; Clara M. Ionescu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：1
页码：22-27
DOI：10.1016/j.ifacol.2019.06.032
语种：English
出版社：Elsevier
摘要：AbstractIn recent years, research interest in Unmanned Aerial Vehicles (UAVs) has been grown rapidly because of their potential use for a wide range of applications. In this paper, we proposed a vision-based detection and position/velocity estimation of moving obstacle for a UAV. The knowledge of a moving obstacle’s state, i.e., position, velocity, is essential to achieve better performance for an intelligent UAV system specially in autonomous navigation and landing tasks. The novelties are: (1) the design and implementation of a localization method using sensor fusion methodology which fuses Inertial Measurement Unit (IMU) signals and Pozyx signals; (2) The development of detection and estimation of moving obstacles method based on on-board vision system. Experimental results validate the effectiveness of the proposed approach.
关键词：KeywordsUAVobstacle detectionOpenCVposition/velocity estimationautonomous navigationsensor fusion