Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters

Autores
Paz, Claudio; Nesmachnow, Sergio
Año de publicación
2017
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
This article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allows the system to minimize estimation errors. The proposed implementation is evaluated on real hardware and evaluation results show that a real time implementation is feasible.
Sociedad Argentina de Informática e Investigación Operativa (SADIO)
Materia
Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/65513
Acceder
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oai_identifier_str oai:sedici.unlp.edu.ar:10915/65513
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network_name_str SEDICI (UNLP)
spelling Double Coupling Between Inertial Sensors and Visual Odometry in MulticoptersPaz, ClaudioNesmachnow, SergioCiencias Informáticasunmanned aerial vehiclesvisual odometryinertial sensorsextended kalman filterThis article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allows the system to minimize estimation errors. The proposed implementation is evaluated on real hardware and evaluation results show that a real time implementation is feasible.Sociedad Argentina de Informática e Investigación Operativa (SADIO)2017-09info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfhttp://sedici.unlp.edu.ar/handle/10915/65513enginfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-sa/4.0/Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-09-29T11:09:34Zoai:sedici.unlp.edu.ar:10915/65513Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-09-29 11:09:34.759SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
spellingShingle Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
Paz, Claudio
Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
title_short Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_full Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_fullStr Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_full_unstemmed Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
title_sort Double Coupling Between Inertial Sensors and Visual Odometry in Multicopters
dc.creator.none.fl_str_mv Paz, Claudio
Nesmachnow, Sergio
author Paz, Claudio
author_facet Paz, Claudio
Nesmachnow, Sergio
author_role author
author2 Nesmachnow, Sergio
author2_role author
dc.subject.none.fl_str_mv Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
topic Ciencias Informáticas
unmanned aerial vehicles
visual odometry
inertial sensors
extended kalman filter
dc.description.none.fl_txt_mv This article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allows the system to minimize estimation errors. The proposed implementation is evaluated on real hardware and evaluation results show that a real time implementation is feasible.
Sociedad Argentina de Informática e Investigación Operativa (SADIO)
description This article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allows the system to minimize estimation errors. The proposed implementation is evaluated on real hardware and evaluation results show that a real time implementation is feasible.
publishDate 2017
dc.date.none.fl_str_mv 2017-09
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/65513
url http://sedici.unlp.edu.ar/handle/10915/65513
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-sa/4.0/
Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-sa/4.0/
Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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score 13.070432

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