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Robust Motion Estimation Based on Multiple Monocular Camera for Indoor Autonomous Navigation of Micro Aerial Vehicle

机译:基于多单目相机的微型飞行器室内自主导航鲁棒运动估计

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This paper is focusing on the development of a system based on computer vision to estimate the movement of an MAV (X, Y, Z and yaw). The system integrates elements such as: a set of cameras, image filtering (physical and digital), and estimation of the position through the calibration of the system and the application of an algorithm based on experimentally found equations. The system represents a low cost alternative, both computational and economic, capable of estimating the position of an MAV with a significantly low error using a scale in millimeters, so that almost any type of camera available in the market can be used. This system was developed in order to offer an affordable form of research and development of new autonomous and intelligent systems for closed environments.
机译:本文着重于基于计算机视觉的系统的开发,以估计MAV(X,Y,Z和偏航)的运动。该系统集成了以下元素:一组摄像机,图像过滤(物理和数字)以及通过系统校准和基于实验得出的方程式的算法应用来估计位置。该系统代表了一种低成本的计算和经济选择,它能够使用毫米标尺来估计误差极低的MAV的位置,因此几乎可以使用市场上任何类型的相机。开发该系统是为了提供一种经济实惠的形式,用于针对封闭环境的新型自主和智能系统的研究与开发。

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