UAV Pose Estimation using POSIT Algorithm

Abstract

Vision-based pose estimation is widely employed to Mini Unmanned Aerial Vehicles (MUAV) with limited payloads. The Pose from Orthography and Scaling and Iterations (POSIT) is one of the most important solutions to estimate the pose by 2-D images and 3-D model of objects. In order to evaluate the performance of POSIT algorithm, a test platform that consists of a MUAV, a wireless camera, a computer workstation, and a motion capture (Optitrack) system is developed. The pose of the MUAV is calculated by the POSIT algorithm with a set of 2-D images captured by the on-board camera, and the calculated pose is compared to the actual pose reading from the Optitrack system. The experimental result demonstrates that the error remains within acceptable bounds and the POSIT is a useful alternative for pose estimation of a MUAV.