Unmanned Aerial Vehicle Position and Attitude Estimation Using Computer Vision

  • Mateus R. da Silva Universidade Federal do ABC, SP
  • Diego P. F. Correa Universidade Federal do ABC, SP
  • Luiz S. Martins-Filho Universidade Federal do ABC, SP
Keywords: Unmanned Aerial Vehicle, Computer Vision, Kalman Filtering, Attitude Estimation, Position Estimation


This work proposes the computer vision application for the position and attitude estimation of an unmanned aerial vehicle (UAV) quadrotor navigating in an indoor Global Positioning System (GPS) denied environment. The system, composed of the quadrotor and one camera fixed outside the vehicle, was simulated in a 3D virtual environment. The results showed that computer vision improved the attitude and position estimation of the quadrotor.