Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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UAV Altitude and Attitude Estimation Method Using Stereo Vision

스테레오 비전를 이용한 무인기 고도 및 자세 추정기법

  • Jung, Ha-Hyoung (Department of Electronics Engineering, Chungnam National University) ;
  • Lee, Jun-Min (Department of Electronics Engineering, Chungnam National University) ;
  • Lyou, Joon (Department of Electronics Engineering, Chungnam National University)
  • 정하형 (충남대학교 전자공학과) ;
  • 이준민 (충남대학교 전자공학과) ;
  • 유준 (충남대학교 전자공학과)
  • Received : 2015.12.02
  • Accepted : 2015.12.28
  • Published : 2016.01.01
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Abstract

This paper presents the implementation of altitude and attitude measurement algorithm using stereo camera for an unmanned aerial vehicle (UAV). Depth images are generated by calibrating the stereo cameras, and converted into 3D point cloud data. By applying a plane fitting algorithm to the resultant point cloud, altitude from ground level, and roll and pitch angles are extracted. To verify the performance, experimental results are provided by comparing with those of the motion caption system.

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References

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