Publication
Odometry estimation for aerial manipulation
Book Chapter (2019)
Book Title
Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics
Publisher
Springer
Pages
219-228
Volume
129
Serie
Springer Tracts in Advanced Robotics
Doc link
https://doi.org/10.1007/978-3-030-12945-3_15
File
Abstract
This chapter explains a fast and low-cost state localization estimation method for small-sized UAVs, that uses an IMU, a smart camera and an infrared time-of-flight range sensor that act as an odometer providing absolute attitude, velocity, orientation, angular rate and acceleration at a rate higher than 100 Hz. This allows estimating almost continuously the localization of the aerial robot, when GPS or other methods can at most reach 5 Hz. This technique does not require creating a map for localization.
Categories
robots.
Scientific reference
A. Santamaria-Navarro, J. Solà and J. Andrade-Cetto. Odometry estimation for aerial manipulation. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 219-228. Springer, 2019.
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