Article detail · 2023
Visual aid for unmanned aircraft navigation in unknown environments
- Year
- 2023
- Type
- conference-paper
Data source split
- YÖKSİS YÖKSİS article record
- YÖKSİS venue Journal of Physics: Conference Series
- Catalog match (ISSN) Journal of Physics: Conference Series
- OpenAlex OpenAlex enrichment (abstract, citations, topics)
Abstract
English (OpenAlex)
Abstract This study presents a visual-aided inertial navigation technique that can be used for unmanned aircraft in unknown environments. An angular and linear velocity estimation algorithm, which is based on the solution of the Wahba’s problem, is developed using sequential images for visual odometry. It is possible that the visual sensors do not receive continuous measurements throughout the mission, for example, when a sufficient number of features cannot be detected by the camera. Considering that a closed loop Extended Kalman Filter algorithm is designed for integration of visual odometry measurements with the inertial measurements to have accurate pose estimation throughout the flight.
Topics
- Robotics and Sensor-Based Localization
- Advanced Vision and Imaging
- Robotic Path Planning Algorithms
Primary topic Robotics and Sensor-Based Localization