• DocumentCode
    3713682
  • Title

    Preliminary results on vision-inertial state estimation for SmQT system

  • Author

    Donghun Lee; Hyunsoo Yang;Dongjun Lee

  • Author_Institution
    School of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea
  • fYear
    2015
  • Firstpage
    161
  • Lastpage
    162
  • Abstract
    We present some preliminary results on state estimation of SmQT system, which consists of multiple UAVs. By using multiple set of IMU-camera and additional IMU, we estimate whole state of UAVs and tool. The estimator merge vision data and IMU measurements under mechanical constraint of SmQT system to increase tracking accuracy and robustness. Simulation is also performed to illustrate the results.
  • Keywords
    "Cameras","State estimation","Kalman filters","Position measurement","Covariance matrices","Trajectory"
  • Publisher
    ieee
  • Conference_Titel
    Ubiquitous Robots and Ambient Intelligence (URAI), 2015 12th International Conference on
  • Type

    conf

  • DOI
    10.1109/URAI.2015.7358854
  • Filename
    7358854
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3713682