TY - GEN
T1 - Relative Spherical-Visual Localization for Cooperative Unmanned Aerial Systems
AU - Holter, Steffen
AU - Tsoukalas, Athanasios
AU - Evangeliou, Nikolaos
AU - Giakoumidis, Nikolaos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/15
Y1 - 2021/6/15
N2 - 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 by the camera-system. The spherical image is partitioned and rectified into a set of square images. An algorithm is proposed to select the number of images that balances the computational load while maintaining a minimum tracking-accuracy level. The developed system tracks UASs in the vicinity of the spherical camera and experimental studies using two UASs are offered to validate the performance of the relative visual localization against that of a motion capture system.
AB - 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 by the camera-system. The spherical image is partitioned and rectified into a set of square images. An algorithm is proposed to select the number of images that balances the computational load while maintaining a minimum tracking-accuracy level. The developed system tracks UASs in the vicinity of the spherical camera and experimental studies using two UASs are offered to validate the performance of the relative visual localization against that of a motion capture system.
UR - http://www.scopus.com/inward/record.url?scp=85111440257&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS51884.2021.9476734
DO - 10.1109/ICUAS51884.2021.9476734
M3 - Conference contribution
AN - SCOPUS:85111440257
T3 - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
SP - 371
EP - 376
BT - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Y2 - 15 June 2021 through 18 June 2021
ER -