A.K. Buyval
PhD in Technical Sciences, State Educational Institution of Higher Professional Education «Bryansk State Technical University» (BSTU), Assistant Professor, 7, Bulvar 50-letiya Oktyabrya, Bryansk, 241035, Russia, tel.: +7(4832)56-09-84, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
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.
Key words
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
