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Conference Papers Year : 2010

3D model-based tracking for UAV position control


This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehi- cle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach.
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inria-00544796 , version 1 (09-12-2010)


  • HAL Id : inria-00544796 , version 1


Céline Teulière, Laurent Eck, E. Marchand, Nicolas Guenard. 3D model-based tracking for UAV position control. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.1084-1089. ⟨inria-00544796⟩
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