An Autonomous Pose Estimation Method of MAV Based on Monocular Camera and Visual Markers
作者： Xianyu Guan , Xiang Lu , Juntong Qi
DOI: 10.1109/WCICA.2018.8630354
关键词:
摘要: In this paper, a complete solution for estimating the position of MAV is present, using measurements from Robot Operating System (ROS) package ‘ar_pose’ and an on-board camera taking images AR markers. The open-source ROS used to manage communication with MAV, detect markers in image. relation coordinate system, based on kinematics robot, given estimate MAV’s position, theoretical basis subsequent attitude estimation method provided. Combined data transformation, target-tracking control law PID logic controller present. proposed strategy checked during test, convincing experimental results are presented. Experiment proves can effectively improve marker’s recognition accuracy meet requirements controller.
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