Relative Spherical-Visual Localization for Cooperative Unmanned Aerial Systems

Steffen Holter,Athanasios Tsoukalas,Nikolaos Evangeliou,Nikolaos Giakoumidis,Anthony Tzes

2021 International Conference on Unmanned Aircraft Systems (ICUAS)（2021）

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摘要

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a 360° Field-of-View (FoV) in the immediate surroundings of the UAS using a spherical camera. Collaborating UASs carry a set of fiducial markers which are detected ...

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关键词

Location awareness,Visualization,Tracking,Cameras,Fiducial markers,Real-time systems,Partitioning algorithms

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