Odometry estimation for aerial manipulation
Document typePart of book or chapter of book
Rights accessOpen Access
European Commission's projectAEROARMS - AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance (EC-H2020-644271)
This chapter explains a fast and low-cost state localization estimation method for small-sized UAVs, that uses an IMU, a smart camera and an infrared time-of-flight range sensor that act as an odometer providing absolute attitude, velocity, orientation, angular rate and acceleration at a rate higher than 100 Hz. This allows estimating almost continuously the localization of the aerial robot, when GPS or other methods can at most reach 5 Hz. This technique does not require creating a map for localization.
The final publication is available at link.springer.com
CitationSantamaria, A.; Solá, J.; Andrade-Cetto, J. Odometry estimation for aerial manipulation. A: "Aerial robotic manipulation: research, development and applications". Berlín: Springer, 2019, p. 219-228.
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