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Nonlinear Real-Time Pose Estimation of Quadrotor UAV

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Nonlinear Approaches in Engineering Applications

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Abstract

Object pose (rotation and translation) estimation problem arises in several domains of application. This chapter presents simplified nonlinear equations of motion for a quadrotor derived based on Newtonian mechanics before discussing and comparing the performance of two real-time image-based quadrotor pose estimation methods: one based on a commercial motion capture and tracking system utilizing six infrared (IR) cameras mounted around the test area aliased OptiTrack; the other based on classicPOSIT, an iterative pose estimation algorithm using a single image of a target object taken by an onboard camera. The geometry of the target and intrinsic parameters of the camera are known a priori; the image coordinates of five noncoplanar feature points on the target are extracted through a real-time image processing algorithm for pose estimation. Test results prove that onboard camera pose estimation is an attractive solution for autonomous real-time control of a quadrotor unmanned aerial vehicle (UAV).

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Notes

  1. 1.

    Qball-X4 by Quanser Inc.

  2. 2.

    Motion capture and tracking system by NaturalPoint Inc.

  3. 3.

    http://www.cfar.umd.edu/~daniel/Site_2/Code.html

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Authors and Affiliations

  1. Electronic Systems Engineering, Faculty of Engineering and Applied Science, University of Regina, 3737 Wascana Parkway, Regina, SK, Canada, S4S0A2

    Chayatat Ratanasawanya & Raman Paranjape Ph.D., P.Eng.

  2. Industrial Systems Engineering, Faculty of Engineering and Applied Science, University of Regina, 3737 Wascana Parkway, Regina, SK, Canada, S4S0A2

    Mehran Mehrandezh Ph.D., P.Eng.

Authors
  1. Chayatat Ratanasawanya
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  2. Mehran Mehrandezh Ph.D., P.Eng.
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  3. Raman Paranjape Ph.D., P.Eng.
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Corresponding author

Correspondence to Chayatat Ratanasawanya .

Editor information

Editors and Affiliations

  1. , Industrial Systems Engineering, University of Regina, Wascana Parkway, Regina, S4S 0A2, Saskatchewan, Canada

    Liming Dai

  2. School of Aerospace, Mechanical, and Man, RMIT University, Bandoora Campus, Building 251.03.42, Melbourne, 3083, Victoria, Australia

    Reza N. Jazar

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Ratanasawanya, C., Mehrandezh, M., Paranjape, R. (2012). Nonlinear Real-Time Pose Estimation of Quadrotor UAV. In: Dai, L., Jazar, R. (eds) Nonlinear Approaches in Engineering Applications. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-1469-8_13

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  • DOI: https://doi.org/10.1007/978-1-4614-1469-8_13

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  • Print ISBN: 978-1-4614-1468-1

  • Online ISBN: 978-1-4614-1469-8

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