Title:
Attitude Heading Reference System with Rotation-Aiding Visual Landmarks
Attitude Heading Reference System with Rotation-Aiding Visual Landmarks
| dc.contributor.author | Beall, Chris | |
| dc.contributor.author | Ta, Duy-Nguyen | |
| dc.contributor.author | Ok, Kyel | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.date.accessioned | 2012-09-21T18:26:48Z | |
| dc.date.available | 2012-09-21T18:26:48Z | |
| dc.date.issued | 2012-07 | |
| dc.description | ©2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 15th International Conference on Information Fusion (FUSION 2012), 9-12 July 2012, Singapore. | |
| dc.description.abstract | In this paper we present a novel vision-aided attitude heading reference system for micro aerial vehicles (MAVs) and other mobile platforms, which does not rely on known landmark locations or full 3D map estimation as is common in the literature. Inertial sensors which are commonly found on MAVs suffer from additive biases and noise, and yaw error will grow without bounds. The bearing-only measurements, which we call vistas, aid the vehicle’s heading estimate and allow for long-term operation while correcting for sensor drift. Our method is experimentally validated on a commercially available low-cost quadrotor MAV. | en_US |
| dc.identifier.citation | Beall, C.; Ta, D-N.; Ok, K.; & Dellaert, F. (2012). "Attitude Heading Reference System With Rotation-Aiding Visual Landmarks". Proceedings of the 15th International Conference on Information Fusion (FUSION 2012), 9-12 July 2012, pp.976-982. | en_US |
| dc.identifier.isbn | 978-1-4673-0417-7 | |
| dc.identifier.uri | http://hdl.handle.net/1853/44932 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Attitude heading reference system | en_US |
| dc.subject | Inertial sensors | en_US |
| dc.subject | Micro aerial vehicles | en_US |
| dc.subject | Rotation-aiding visual landmarks | en_US |
| dc.subject | Vision aided | en_US |
| dc.subject | Vistas | en_US |
| dc.title | Attitude Heading Reference System with Rotation-Aiding Visual Landmarks | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | College of Computing | |
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