Article

Vision Based UAV Attitude Estimation: Progress and Insights.

Journal of Intelligent and Robotic Systems (Impact Factor: 0.83). 01/2012; 65:295-308. DOI: 10.1007/s10846-011-9588-y
Source: DBLP

ABSTRACT Unmanned aerial vehicles (UAVs) are increasingly replacing manned systems in situations that are dangerous, remote, or difficult
for manned aircraft to access. Its control tasks are empowered by computer vision technology. Visual sensors are robustly
used for stabilization as primary or at least secondary sensors. Hence, UAV stabilization by attitude estimation from visual
sensors is a very active research area. Vision based techniques are proving their effectiveness and robustness in handling
this problem. In this work a comprehensive review of UAV vision based attitude estimation approaches is covered, starting
from horizon based methods and passing by vanishing points, optical flow, and stereoscopic based techniques. A novel segmentation
approach for UAV attitude estimation based on polarization is proposed. Our future insightes for attitude estimation from
uncalibrated catadioptric sensors are also discussed.

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