Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2016.15.0202
Title & Authors
UAV Altitude and Attitude Estimation Method Using Stereo Vision Jung, Ha-Hyoung; Lee, Jun-Min; Lyou, Joon;
This paper presents the implementation of altitude and attitude measurement algorithm using stereo camera for an unmanned aerial vehicle (UAV). Depth images are generated by calibrating the stereo cameras, and converted into 3D point cloud data. By applying a plane fitting algorithm to the resultant point cloud, altitude from ground level, and roll and pitch angles are extracted. To verify the performance, experimental results are provided by comparing with those of the motion caption system.