Abstract
Multi-sensor fusion based pose estimation for UAVs (unmanned aerial vehicles) on ships was proposed in this paper. For take-off and landing of UAVs on ships, the novel artificial landmark was presented which could obtain accurate unique result and eliminate the pose ambiguity effectively. IMU data was effectively employed for pose estimation. EPnP algorithm was performed to get the initial estimation. Then the modified RPP method was proposed which employed both IMU data and vision information. Based on the planar target, the accurate and robust pose estimation of the quadrotor was obtained. The results of pose estimation were analysed and verified by the simulation and real experiments.
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