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ThinkMind // ICAS 2019, The Fifteenth International Conference on Autonomic and Autonomous Systems // View article icas_2019_2_30_28006


DART Project: A High Precision UAV Prototype Exploiting On-board Visual Sensing

Authors:
Michele Basso
Luca Bigazzi
Giacomo Innocenti

Keywords: Advance sensing; Drone; Computer Vision; Sensor Fusion

Abstract:
This work explores a way to achieve high precision in the positioning of a 250-class aerial drone by means of only on-board sensors. The proposed technology is still in development, and its basic idea is to compensate the errors of the sensors by fusing together strongly correlated data streams. The main players are a 6 Degrees of Freedom (DoF) Inertial Measurement Unit (IMU) and a computer vision system, arranged to work together as a "virtual sensor" providing the pose of the drone relative to one or more markers acting as reference points of known position and orientation. The proposed advance sensing exploits complementary filters to merge inertial and visual data. Such a refined positioning is then used to feed a custom control strategy acting as auto-pilot for implementing autonomous navigation. Preliminary results on the developed technologies are reported.

Pages: 27 to 31

Copyright: Copyright (c) IARIA, 2019

Publication date: June 2, 2019

Published in: conference

ISSN: 2308-3913

ISBN: 978-1-61208-712-2

Location: Athens, Greece

Dates: from June 2, 2019 to June 6, 2019

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