NDLI: RGB-D camera-based quadrotor navigation in GPS-denied and low light environments using known 3D markers

Content Provider	IEEE Xplore Digital Library
Author	Vetrella, A.R. Savvaris, A. Fasano, G. Accardo, D.
Copyright Year	2015
Description	Author affiliation: Sch. on Eng., Cranfield Univ., Cranfield, UK (Savvaris, A.) \|\| Univ. of Naples Federico II, Naples, Italy (Vetrella, A.R.; Fasano, G.; Accardo, D.)
Abstract	This paper presents an original approach for autonomous navigation based on RGB-D data and known 3D markers, where the basic concept is to detect and recognize the markers and then to use them for a straightforward pose estimation solution. The developed algorithms can allow a quadrotor to autonomously fly in (cooperative) GPS denied environments and/or when there is no natural or artificial illumination of the scene, by following a predetermined path consisting of successive targets having a well defined shape and/or color. Algorithms for target detection and recognition based on depth data are described which are optimized for real time use, paying particular attention to the on-board computational load. Experimental tests have been carried out by integrating a RGB-Depth sensor (ASUS Xtion Pro Live) on-board a custom-built quadrotor. First results confirm the potential of the proposed approach. The technique can be applied to different types of unmanned aerial vehicles (UAVs), as well as unmanned ground vehicles (UGVs).
Starting Page	185
Ending Page	192
File Size	1319582
Page Count	8
File Format	PDF
e-ISBN	9781479960101
DOI	10.1109/ICUAS.2015.7152290
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Support vector machines Image resolution Three-dimensional displays Cameras Sensors Classification algorithms Global Positioning System
Content Type	Text
Resource Type	Article

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