@inproceedings{4c4b76a8446c47f3bb3f4f433705a2e3,
title = "The Multi-UAV Collaborative Localization Based on Visual and Inertial Sensors",
abstract = "Precise and robust navigation is a fundamental requirement for unmanned aerial vehicle (UAV) to perform various missions. In this paper, we propose a multi-UAV collaborative localization algorithm based on vector field consensus (VFC). VFC is employed to eliminate the incorrectly matched feature points, which significantly affect the localization accuracy. Moreover, we develop a real multi-UAV system with a centralized terminal to optimize the estimated state of UAVs, using transmission control protocol (TCP) as the communication method to overcome the limitations of ROS. Finally, we demonstrate the efficiency and reliability of our algorithm over ORB-SLAM3 in several experiments on both public and self-recorded datasets.",
keywords = "centralied ternimal, UAV, VFC, visual and inertial",
author = "Guoda Cheng and Guoliang Yang and Deteng Zhang and Jinwen Hu and Jiancheng Zhang and Zhao Xu",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2024.; 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023 ; Conference date: 09-09-2023 Through 11-09-2023",
year = "2024",
doi = "10.1007/978-981-97-1091-1_36",
language = "英语",
isbn = "9789819710904",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "392--401",
editor = "Yi Qu and Mancang Gu and Yifeng Niu and Wenxing Fu",
booktitle = "Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) - Volume IV",
}