Using Visual Odometry to Determine the Position of a UAV
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Date
2024-08-30
Authors
Pintér, Marco
Janoušek, Jiří
Klouda, Jan
Marcoň, Petr
0009-0006-4873-0434Advisor
Referee
Mark
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier
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Abstract
We discuss the main concepts and problems related to navigating an unmanned aerial vehicle (UAV) in a three-dimensional space via visual odometry. In the nearest future, GMSS-free UAV navigation will embody a critical part of autonomous navigation systems, with information from on-board cameras enabling the user to estimate the UAV's movement and position. In the given context, this paper presents different types of visual odometry, sensors for visual odometry, implementation components, and application scenarios. To allow the development and innovations, we utilize the widely used Robotic Operating System (ROS).
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Citation
IFAC-PapersOnLine (ELSEVIER). 2024, vol. 58, issue 9, p. 281-286.
https://www.sciencedirect.com/science/article/pii/S2405896324004993
https://www.sciencedirect.com/science/article/pii/S2405896324004993
Document type
Peer-reviewed
Document version
Published version
Date of access to the full text
Language of document
en
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Date of acceptance
Defence
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Document licence
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
http://creativecommons.org/licenses/by-nc-nd/4.0/