Performance analysis of camera rotation estimation algorithms for UAS sense and avoid

Tamas Zsedrovits, Peter Bauer, Mate Nemeth, Borbala Jani Matyasne Pencz, A. Zarándy, Balint Vanek, J. Bokor

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

Abstract

Several camera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. 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. Simulation 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 publication2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages62-71
Number of pages10
ISBN (Print)9781509017843
DOIs
Publication statusPublished - Mar 24 2016
Event2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 - Cancun, Mexico
Duration: Nov 23 2015Nov 25 2015

Other

Other2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
CountryMexico
CityCancun
Period11/23/1511/25/15

Fingerprint

Cameras
Aircraft
Sensors
Unmanned aerial vehicles (UAV)
Redundancy
Fusion reactions
Costs

Keywords

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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing
  • Control and Systems Engineering
  • Software
  • Electrical and Electronic Engineering

Cite this

Zsedrovits, T., Bauer, P., Nemeth, M., Pencz, B. J. M., Zarándy, A., Vanek, B., & Bokor, J. (2016). Performance analysis of camera rotation estimation algorithms for UAS sense and avoid. In 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 (pp. 62-71). [7440991] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RED-UAS.2015.7440991

Performance analysis of camera rotation estimation algorithms for UAS sense and avoid. / Zsedrovits, Tamas; Bauer, Peter; Nemeth, Mate; Pencz, Borbala Jani Matyasne; Zarándy, A.; Vanek, Balint; Bokor, J.

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 62-71 7440991.

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

Zsedrovits, T, Bauer, P, Nemeth, M, Pencz, BJM, Zarándy, A, Vanek, B & Bokor, J 2016, Performance analysis of camera rotation estimation algorithms for UAS sense and avoid. in 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015., 7440991, Institute of Electrical and Electronics Engineers Inc., pp. 62-71, 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015, Cancun, Mexico, 11/23/15. https://doi.org/10.1109/RED-UAS.2015.7440991
Zsedrovits T, Bauer P, Nemeth M, Pencz BJM, Zarándy A, Vanek B et al. Performance analysis of camera rotation estimation algorithms for UAS sense and avoid. In 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 62-71. 7440991 https://doi.org/10.1109/RED-UAS.2015.7440991
Zsedrovits, Tamas ; Bauer, Peter ; Nemeth, Mate ; Pencz, Borbala Jani Matyasne ; Zarándy, A. ; Vanek, Balint ; Bokor, J. / Performance analysis of camera rotation estimation algorithms for UAS sense and avoid. 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 62-71
@inproceedings{3f91d1913ba24581b50497c2634bc21d,
title = "Performance analysis of camera rotation estimation algorithms for UAS sense and avoid",
abstract = "Several camera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. 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. Simulation results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.",
keywords = "Camera, FPGA, GPS, IMU, sensor fusion, UAS, UAV",
author = "Tamas Zsedrovits and Peter Bauer and Mate Nemeth and Pencz, {Borbala Jani Matyasne} and A. Zar{\'a}ndy and Balint Vanek and J. Bokor",
year = "2016",
month = "3",
day = "24",
doi = "10.1109/RED-UAS.2015.7440991",
language = "English",
isbn = "9781509017843",
pages = "62--71",
booktitle = "2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Performance analysis of camera rotation estimation algorithms for UAS sense and avoid

AU - Zsedrovits, Tamas

AU - Bauer, Peter

AU - Nemeth, Mate

AU - Pencz, Borbala Jani Matyasne

AU - Zarándy, A.

AU - Vanek, Balint

AU - Bokor, J.

PY - 2016/3/24

Y1 - 2016/3/24

N2 - Several camera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. 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. Simulation results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.

AB - Several camera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. 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. Simulation results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.

KW - Camera

KW - FPGA

KW - GPS

KW - IMU

KW - sensor fusion

KW - UAS

KW - UAV

UR - http://www.scopus.com/inward/record.url?scp=84965160812&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84965160812&partnerID=8YFLogxK

U2 - 10.1109/RED-UAS.2015.7440991

DO - 10.1109/RED-UAS.2015.7440991

M3 - Conference contribution

SN - 9781509017843

SP - 62

EP - 71

BT - 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -