In this paper algorithm description for quadrorotor-type UAV's indoors visual localization based on comparison of the edges recieved from video camera image and from simulated image, obtained on the base of known 3D model of environment (quarters), is given. At the end of the paper the results of experimens based on simulating in Gazebo environment are indicated.
Visual localization, particle filter, ROS, Gazebo.
Year 2015 Issue number 3 Consecutive issue number 8 Pages 71-75
UDC identifier: 623.746.-519:004.932.2