@inproceedings{2908585ac28a471c8c9d3431d0ea0314,
title = "Relative Pose Estimation of Unmanned Aerial Systems",
abstract = "The relative accurate pose estimation problem of collaborating Unmanned Aerial Systems (UASs) in GPS-denied environments is addressed in this article. The on-board system uses fiducial markers attached in the facets of a truncated rhombicuboctahedron placed on top of the UAS. A visual marker-tracking mechanism using a global shutter camera is used to estimate the relative pose between the UASs under the Line-of-Sight (LoS) constraint. The pose estimator operates in parallel with an Ultra-wideband (UWB) system that transmits extremely short RF-pulses, spreading the radio energy over a wide frequency band, and measures the relative distance using Time Of Arrival (TOA) measurements from a set of off-board anchors. Experimental studies show that the UWB-system can provide satisfactory measurements at large distances (2m to 50m) but the resolution is not sufficient for operating the UASs in very short relative distances (under 5m). Therefore, the visual system is used to improve the relative position measurements at short distances (0.2m to 5m) in addition to providing orientation measurements.",
keywords = "Fiducial Markers, Localization, Pose Determination, RF-tracking, Ultra wide band tracking, Unmanned Aerial Systems, Visual tracking",
author = "Athanasios Tsoukalas and Anthony Tzes and Farshad Khorrami",
year = "2018",
month = aug,
day = "20",
doi = "10.1109/MED.2018.8442959",
language = "English (US)",
isbn = "9781538678909",
series = "MED 2018 - 26th Mediterranean Conference on Control and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "155--160",
booktitle = "MED 2018 - 26th Mediterranean Conference on Control and Automation",
note = "26th Mediterranean Conference on Control and Automation, MED 2018 ; Conference date: 19-06-2018 Through 22-06-2018",
}