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Pose estimation of autonomous dirigibles using artificial landmarks

L. S. CoelhoM. F. M. Campos

Autonomous dirigibles - aerial robots that are a blimp controlled by computer based on information gathered by sensors - are a new and promising research field in Robotics, offering several possibilities for original research. One of them is the study of visual navigation for this kind of vehicle, which would fill an operational gap left by inertial, GPS and other kinds of well-established dead-reckoning navigation. In this paper, a simple pose estimation system based on artificial landmarks is introduced for the accomplishment of that task. The vision system uses that data to keep the dirigible on a progammed trajectory. This visual control can be done using both fixed, external cameras focusing the blimp as well as onboard cameras, thus opening a way for future research on visual cooperation between aerial and ground mobile robots. Preliminary experimental results showing the correct functioning of the system are presented and discussed.

http://sibgrapi.sid.inpe.br/rep-/dpi.inpe.br/vagner/1999/11.29.10.33

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