3D model-based tracking for UAV position control

@article{Teulire20103DMT,
  title={3D model-based tracking for UAV position control},
  author={C{\'e}line Teuli{\`e}re and Laurent Eck and {\'E}ric Marchand and Nicolas Guenard},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={1084-1089}
}
This paper presents a 3D model-based tracking suitable for indoor position control of an unmanned aerial vehicle (UAV). Given a 3D model of the edges of its environment, the UAV locates itself thanks to a robust multiple hypothesis tracker. The pose estimation is then fused to inertial data to provide the translational velocity required for the control. A hierarchical control is used to achieve positioning tasks. Experiments on a quad-rotor aerial vehicle validate the proposed approach. 

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