Validation of an IMU-camera fusion algorithm using an industrial robot.

dc.creatorPérez Paina , Gonzalo
dc.creatorPaz , Claudio
dc.creatorPucheta, Martín Alejo
dc.creatorBianchini, Bruno
dc.creatorMartínez , Fernando
dc.creatorNievas , Martín
dc.date.accessioned2025-07-01T22:18:14Z
dc.date.issued2017
dc.description.abstractThe integration of down-looking camera with an in ertial measurement unit (IMU) sensor makes possible to provide a lightweight and low-cost pose estimation system for unmanned aerial vehicles (UAVs) and micro-UAVs (MAVs). Recently, the authors developed an algorithm for IMU and exteroceptive sensor fusion filter for position and orientation estimation. The aim of the estimation is to be used in the outer control loop of an UAV for position control. This work presents an experimental set up to test that algorithm using an industrial robot to produce accurate planar trajectories as a safe alternative to testing the algorithm on real UAVs. The results of the IMU-camera fusion estimation for linear positions and linear velocities show an error admissible to be integrated on real UAVs. Index Terms—sensor fusion, inertial measurement unit, monoc ular camera, industrial robot, error-state Kalman f
dc.description.affiliationFil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Bianchini, Bruno. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Martínez, Fernando. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Nievas, Martín. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.formatpdf
dc.identifier.citationJAR 2017- IX Jornadas Argentinas de Robótica 15-17 de noviembre, córdoba Argentina.
dc.identifier.urihttps://hdl.handle.net/20.500.12272/13418
dc.language.isoen
dc.publisherJornadas Argentinas de Robótica
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.holderPérez Paina, Gonzalo; Paz, Claudio; Pucheta, Martín Alejo; Bianchini, Bruno; Martínez, Fernando; Nieves, Martín.
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.usehttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectSensor fusion
dc.subjectInertial measurement unit
dc.subjectMonocular camera
dc.subjectIndustrial robot
dc.subjectError-state Kalman filter
dc.titleValidation of an IMU-camera fusion algorithm using an industrial robot.
dc.typeinfo:eu-repo/semantics/article
dc.type.versionacceptedVersion

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