NDLI: Position tracking system using single RGB-D Camera for evaluation of multi-rotor UAV control and self-localization

Content Provider	IEEE Xplore Digital Library
Author	Jun-Young Baek Se-Hong Park Beom-Seok Cho Min-Cheol Lee
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea (Jun-Young Baek; Se-Hong Park; Beom-Seok Cho) \|\| Sch. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea (Min-Cheol Lee)
Abstract	In this paper, an evaluation system for verifying algorithm of unmanned aerial vehicle(UAV) control and self-localization in GPS-denied environments, instead of the Vicon motion capture system that is being widely used as ground truth of the quadcopter position control, is developed and its feasibility evaluated. Among the RGB-D cameras that can make 3D measurements, Kinect is used and validated by applying the algorithm to a linear robot, which then chooses a marker and recognizes it. The marker recognition algorithm comprises two parts. First, a background extraction technique is utilized to establish the area of interest; next, a filter that adopts the labeling technique is used to recognize a marker in the region of interest. The feasibility of the algorithm is validated in an actual experiment employing two kinds of quadcopters.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	1283
Ending Page	1288
File Size	930675
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222715
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Three-dimensional displays Labeling Time measurement Measurement uncertainty Tracking Position measurement
Content Type	Text
Resource Type	Article

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