Image-based position estimation of UAV using Kalman Filter

Takaaki Kojima, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper deals with the position estimation problem by using the Kalman Filter with compensations for unexpected observations. In the position estimation problem, robot observations sometimes yield unexpected values, resulting in the deterioration of the estimation accuracy. For example, visual observation with an unmanned aerial vehicle often yields unexpected results because of blurred images. In this paper, we propose a method to assigns weights to the observations in order to remove the effects of unexpected observations. In the proposed method, unexpected observations are detected by comparing the observation values with its estimates; the weights of these observations are then determined. On the basis of simulation and experimental results, we demonstrate that a robot's position can be estimated by the proposed method.

Original languageEnglish
Title of host publication2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages406-411
Number of pages6
ISBN (Print)9781479977871
DOIs
Publication statusPublished - 2015 Nov 4
EventIEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia
Duration: 2015 Sep 212015 Sep 23

Other

OtherIEEE Conference on Control and Applications, CCA 2015
CountryAustralia
CitySydney
Period15/9/2115/9/23

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Kojima, T., & Namerikawa, T. (2015). Image-based position estimation of UAV using Kalman Filter. In 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings (pp. 406-411). [7320663] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2015.7320663