Abstract
The relative accurate pose estimation problem of collaborating Unmanned Aerial Systems (UASs) in GPS-denied environments is addressed in this article. The on-board system uses fiducial markers attached in the facets of a truncated rhombicuboctahedron placed on top of the UAS. A visual marker-tracking mechanism using a global shutter camera is used to estimate the relative pose between the UASs under the Line-of-Sight (LoS) constraint. The pose estimator operates in parallel with an Ultra-wideband (UWB) system that transmits extremely short RF-pulses, spreading the radio energy over a wide frequency band, and measures the relative distance using Time Of Arrival (TOA) measurements from a set of off-board anchors. Experimental studies show that the UWB-system can provide satisfactory measurements at large distances (2m to 50m) but the resolution is not sufficient for operating the UASs in very short relative distances (under 5m). Therefore, the visual system is used to improve the relative position measurements at short distances (0.2m to 5m) in addition to providing orientation measurements.
| Original language | English (US) |
|---|---|
| Title of host publication | MED 2018 - 26th Mediterranean Conference on Control and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 155-160 |
| Number of pages | 6 |
| ISBN (Print) | 9781538678909 |
| DOIs | |
| State | Published - Aug 20 2018 |
| Event | 26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia Duration: Jun 19 2018 → Jun 22 2018 |
Other
| Other | 26th Mediterranean Conference on Control and Automation, MED 2018 |
|---|---|
| Country | Croatia |
| City | Zadar |
| Period | 6/19/18 → 6/22/18 |
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Keywords
- Fiducial Markers
- Localization
- Pose Determination
- RF-tracking
- Ultra wide band tracking
- Unmanned Aerial Systems
- Visual tracking
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
- Mechanical Engineering
- Control and Optimization
Cite this
Relative Pose Estimation of Unmanned Aerial Systems. / Tsoukalas, Athanasios; Tzes, Antonios; Khorrami, Farshad.
MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. p. 155-160 8442959.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Relative Pose Estimation of Unmanned Aerial Systems
AU - Tsoukalas, Athanasios
AU - Tzes, Antonios
AU - Khorrami, Farshad
PY - 2018/8/20
Y1 - 2018/8/20
N2 - The relative accurate pose estimation problem of collaborating Unmanned Aerial Systems (UASs) in GPS-denied environments is addressed in this article. The on-board system uses fiducial markers attached in the facets of a truncated rhombicuboctahedron placed on top of the UAS. A visual marker-tracking mechanism using a global shutter camera is used to estimate the relative pose between the UASs under the Line-of-Sight (LoS) constraint. The pose estimator operates in parallel with an Ultra-wideband (UWB) system that transmits extremely short RF-pulses, spreading the radio energy over a wide frequency band, and measures the relative distance using Time Of Arrival (TOA) measurements from a set of off-board anchors. Experimental studies show that the UWB-system can provide satisfactory measurements at large distances (2m to 50m) but the resolution is not sufficient for operating the UASs in very short relative distances (under 5m). Therefore, the visual system is used to improve the relative position measurements at short distances (0.2m to 5m) in addition to providing orientation measurements.
AB - The relative accurate pose estimation problem of collaborating Unmanned Aerial Systems (UASs) in GPS-denied environments is addressed in this article. The on-board system uses fiducial markers attached in the facets of a truncated rhombicuboctahedron placed on top of the UAS. A visual marker-tracking mechanism using a global shutter camera is used to estimate the relative pose between the UASs under the Line-of-Sight (LoS) constraint. The pose estimator operates in parallel with an Ultra-wideband (UWB) system that transmits extremely short RF-pulses, spreading the radio energy over a wide frequency band, and measures the relative distance using Time Of Arrival (TOA) measurements from a set of off-board anchors. Experimental studies show that the UWB-system can provide satisfactory measurements at large distances (2m to 50m) but the resolution is not sufficient for operating the UASs in very short relative distances (under 5m). Therefore, the visual system is used to improve the relative position measurements at short distances (0.2m to 5m) in addition to providing orientation measurements.
KW - Fiducial Markers
KW - Localization
KW - Pose Determination
KW - RF-tracking
KW - Ultra wide band tracking
KW - Unmanned Aerial Systems
KW - Visual tracking
UR - http://www.scopus.com/inward/record.url?scp=85053459832&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053459832&partnerID=8YFLogxK
U2 - 10.1109/MED.2018.8442959
DO - 10.1109/MED.2018.8442959
M3 - Conference contribution
SN - 9781538678909
SP - 155
EP - 160
BT - MED 2018 - 26th Mediterranean Conference on Control and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
ER -