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dc.contributor.authorSantamaria Navarro, Àngel
dc.contributor.authorSolà Ortega, Joan
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.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.
dc.descriptionThe final publication is available at
dc.description.abstractThis 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.
dc.format.extent10 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.titleOdometry estimation for aerial manipulation
dc.typePart of book or chapter of book
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/644271/EU/AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance/AEROARMS
local.citation.authorSantamaria, A.; Solá, J.; Andrade-Cetto, J.
local.citation.publicationNameAerial robotic manipulation: research, development and applications

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