@Article{BragaShigCamp:2019:OdViNa,
author = "Braga, Jos{\'e} Renato Garcia and Shiguemori, Elcio Hideiti and
Campos Velho, Haroldo Fraga de",
affiliation = "{Instituto Nacional de Pesquisas Espaciais (INPE)} and {} and
{Instituto Nacional de Pesquisas Espaciais (INPE)}",
title = "Odometria Visual para a Navega{\c{c}}{\~a}o Aut{\^o}noma de
VANT",
journal = "Revista Cereus",
year = "2019",
volume = "11",
number = "1",
pages = "184--194",
keywords = "Unmanned Aircraft Vehicle (UAV), Visual odometry, UAV autonomous
navigation.",
abstract = "The use of Unmanned Aircraft Vehicle (UAV) has being grown with
many applications such as: ecological monitoring, precision
agriculture, search and rescue operations, and engineering
projects. An important objective of cientific community is to
perform the UAV autonomous navigation. There are several
strategies to develop an autonomous flight system, including the
use of an inertial sensor combined with GPS, computer vision and
visual odometry. The latter scheme is the focus of this article.
Visual Odometry is applied and tested on the UAV RMAX helicopter.
In order to implement the OV positioning system, the SURF and
RANSAC algorithm were used as descriptors of the points of
interest and post-processing to remove the false points of
correspondence, respectively. The visual odometry method presents
a cumulative error, but in the test performed, the maximum
positioning UAV error was below 20 meters, which is acceptable
when compared with the GPS error.",
doi = "10.18605/2175-7275/cereus.v11n1p184-194",
url = "http://dx.doi.org/10.18605/2175-7275/cereus.v11n1p184-194",
issn = "2175-7275",
label = "lattes: 5142426481528206 3 RenatoGarciaBragaHideFrag:2019:OdViNa",
language = "pt",
targetfile = "2697-8857-1-PB.pdf",
urlaccessdate = "08 maio 2024"
}