research-article

Indoor quadrotor state estimation using visual markers

Authors:

Ghassan M. Atmeh,

Isura Ranatunga,

Dan O. Popa,

Kamesh SubbaraoAuthors Info & Claims

PETRA '14: Proceedings of the 7th International Conference on PErvasive Technologies Related to Assistive Environments

Article No.: 34, Pages 1 - 5

https://doi.org/10.1145/2674396.2674458

Published: 27 May 2014 Publication History

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Abstract

This paper discusses the problem of estimating the full state-vector (position/orientation) of an AR.Drone quadrotor using measurements from an inertial measurement unit (IMU) and an on-board camera taking images of predefined markers. The platform used is an inexpensive commercial quadrotor. The open-source Robot Operating System (ROS) is used to manage communication with the quadrotor. To estimate the AR.Drone states, an extended Kalman filter is used. The state estimates are propagated using a nonlinear dynamic model of the AR.Drone available in the literature. The estimation error covariance is propagated through the continuous-time Riccati equation using the model Jacobian. The estimated states are updated based on measurements of angular velocity from the IMU along with position and orientation from the camera. Convincing experimental results are presented. The work introduced here allows for an overall inexpensive setup for estimating the states of a quadrotor for flight in GPS denied environments using visual markers.

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Cited By

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Qi JGuan XLu X(2018)An Autonomous Pose Estimation Method of MAV Based on Monocular Camera and Visual Markers2018 13th World Congress on Intelligent Control and Automation (WCICA)10.1109/WCICA.2018.8630354(252-257)Online publication date: Jul-2018
https://doi.org/10.1109/WCICA.2018.8630354
Qi JGuan XLu X(2018)An Autonomous Pose Estimation Method of MAV Based on Monocular Camera and Visual Markers2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)10.1109/CYBER.2018.8688085(480-485)Online publication date: Jul-2018
https://doi.org/10.1109/CYBER.2018.8688085
McGoldrick CShivaram SHuggard M(2016)Experiences of Integrating UAVs into the Curriculum through Multidisciplinary Engineering Projects2016 ASEE Annual Conference & Exposition Proceedings10.18260/p.26818Online publication date: Jun-2016
https://doi.org/10.18260/p.26818

Index Terms

Indoor quadrotor state estimation using visual markers

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Published In

PETRA '14: Proceedings of the 7th International Conference on PErvasive Technologies Related to Assistive Environments

May 2014

408 pages

ISBN:9781450327466

DOI:10.1145/2674396

Conference Chair:
Fillia Makedon
University of Texas at Arlington
,
Program Chairs:
Mark Clements
Georgia Institute of Technology
,
Catherine Pelachaud
TELECOM ParisTech, France
,
Vana Kalogeraki
Athens University of Economics and Bus
,
Ilias Maglogiannis
University of Piraeus, Greece

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 27 May 2014

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PETRA '14

Sponsor:

iPerform Center
CSE@UTA
HERACLEIA
U of Tex at Arlington
NCRS
Fulbrigh, Greece

PETRA '14: The 7th International Conference on PErvasive Technologies Related to Assistive Environments

May 27 - 30, 2014

Rhodes, Greece

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Cited By

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Qi JGuan XLu X(2018)An Autonomous Pose Estimation Method of MAV Based on Monocular Camera and Visual Markers2018 13th World Congress on Intelligent Control and Automation (WCICA)10.1109/WCICA.2018.8630354(252-257)Online publication date: Jul-2018
https://doi.org/10.1109/WCICA.2018.8630354
Qi JGuan XLu X(2018)An Autonomous Pose Estimation Method of MAV Based on Monocular Camera and Visual Markers2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)10.1109/CYBER.2018.8688085(480-485)Online publication date: Jul-2018
https://doi.org/10.1109/CYBER.2018.8688085
McGoldrick CShivaram SHuggard M(2016)Experiences of Integrating UAVs into the Curriculum through Multidisciplinary Engineering Projects2016 ASEE Annual Conference & Exposition Proceedings10.18260/p.26818Online publication date: Jun-2016
https://doi.org/10.18260/p.26818

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Control and stabilization applied to micro quadrotor AR.Drone

Detection and Implementation Autonomous Target Tracking with a Quadrotor AR.Drone

Navigation and Cooperative Control Using the AR.Drone Quadrotor