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Vision-Based Multi-UAV Position Estimation

L. Merino, J. Wiklund, F. Caballero, A. Moe, J.R. Martinez-de Dios, P.-E. Forssén, K. Nordberg, A. Ollero
IEEE Robotics and Automation Magazine
Volume 13, Number 3, Pages 53-62
September 2006


This paper describes a method for vision-based unmanned aerial vehicle (UAV) motion estimation from multiple planar homographies. The paper also describes the determination of the relative displacement between different UAVs employing techniques for blob feature extraction and matching. It then presents and shows experimental results of the application of the proposed technique to multi-UAV detection of forest fires.

Full Paper

Paper available from IEEE Xplore.

Bibtex entry

  author =       {L. Merino and J. Wiklund and F. Caballero and A. Moe and J.R. Martinez-de Dios and P.-E. Forss\'en and K. Nordberg and A. Ollero},
  title =        {Vision-Based Multi-UAV Position Estimation},
  journal =      {{IEEE} Robotics and Automation Magazine},
  year =         {2006},
  volume =       {13},
  number =       {3},
  pages =        {53-62},
  issn =         {1070-9932},
  month =        {September}

Per-Erik Forssén

Per-Erik Forssén


Computer Vision Laboratory
Department of Electrical Engineering
Building B
Room 2D:521
SE-581 83 Linköping, Sweden
+46(0)13 285654

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