Holter, Steffen (New York University Abu Dhabi), Tsoukalas, Athanasios (New York University Abu Dhabi), Evangeliou, Nikolaos (New York University Abu Dhabi), Giakoumidis, Nikolaos (New York University Abu Dhabi), Tzes, Anthony (New York University Abu Dhabi)

Relative Spherical-Visual Localization for Cooperative Unmanned Aerial Systems

Scheduled for presentation during the Regular Session "Sensor Fusion II" (WeB4), Wednesday, June 16, 2021, 15:20−15:40, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

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 360o 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.