Error analysis of algorithms for camera rotation calculation in GPS/IMU/camera fusion for UAV sense and avoid systems

Tamas Zsedrovits, Peter Bauer, Akos Zarandy, Balint Vanek, Jozsef Bokor, Tamas Roska

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

In this paper four camera pose estimation algorithms are investigated in simulations. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.

Original languageEnglish
Title of host publication2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PublisherIEEE Computer Society
Pages864-875
Number of pages12
ISBN (Print)9781479923762
DOIs
Publication statusPublished - 2014
Event2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Orlando, FL, United States
Duration: May 27 2014May 30 2014

Publication series

Name2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings

Other

Other2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
CountryUnited States
CityOrlando, FL
Period5/27/145/30/14

Keywords

  • Camera
  • FPGA
  • GPS
  • IMU
  • UAV
  • sensor fusion

ASJC Scopus subject areas

  • Aerospace Engineering

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  • Cite this

    Zsedrovits, T., Bauer, P., Zarandy, A., Vanek, B., Bokor, J., & Roska, T. (2014). Error analysis of algorithms for camera rotation calculation in GPS/IMU/camera fusion for UAV sense and avoid systems. In 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings (pp. 864-875). [6842334] (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/ICUAS.2014.6842334