Uncalibrated Visual Compass from Omnidirectional Line Images with Application to Attitude MAV Estimation

Stefano Scheggi (1) , Fabio Morbidi (2, 3) , Domenico Prattichizzo (1)

1 SIRSlab
2 NECS - Networked Controlled Systems
3 GIPSA-lab - Grenoble Images Parole Signal Automatique

This paper presents a new algorithm based on previous results of the authors, for the estimation of the yaw angle of an omnidirectional camera robot undergoing a 6-DoF rigid motion. Our real-time algorithm is uncalibrated, robust to noisy data, and it only relies on the projection of 3-D parallel lines as image features. Numerical and real-world experiments conducted with an eye-in-hand robot manipulator, which we used to simulate the 3-D motion of a Micro unmanned Aerial Vehicle (MAV), show the accuracy and reliability of our estimation algorithm.

Domaines: Automatique

Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo. Uncalibrated Visual Compass from Omnidirectional Line Images with Application to Attitude MAV Estimation. IROS 2013 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. pp.1602-1607, ⟨10.1109/IROS.2013.6696563⟩. ⟨hal-00961584⟩