Horizontal-based Attitude Estimation for Real-time UAV control

dc.contributor.author	Arakawa, Maiko
dc.contributor.author	Okuyama, Yuichi
dc.contributor.author	Mie, Shunsuke
dc.contributor.author	Abderazek, Ben Abdallah
dc.date.accessioned	2019-07-23T04:41:26Z
dc.date.available	2019-07-23T04:41:26Z
dc.date.issued	2019-02-27
dc.identifier.uri	http://onlineresource.ucsy.edu.mm/handle/123456789/1222
dc.description	This work was supported by JSPS KAKENHI Grant Number JP18K11413.	en_US
dc.description.abstract	An attitude estimation is an important process for auto-piloting unmanned aerial vehicles (UAVs) control. We implemented the attitude estimation system from the visible horizon in the images. We use images from the camera to compensate IMU (Inertial measurement units). We used FPGA since the image processing needs hard computation and UAV’s control needs hard real-time processing. The horizon is detected through the use of morphological smoothing, Sobel filter and Hough transform. Runlength encoder is used before Hough transform to reduce memory bandwidth. The system is implemented by high-level synthesis and on Zynq UltraScale+MPSoC ZCU102. The result shows the system is faster than the implementation using desktop computer four times.	en_US
dc.language.iso	en	en_US
dc.publisher	Seventeenth International Conference on Computer Applications(ICCA 2019)	en_US
dc.title	Horizontal-based Attitude Estimation for Real-time UAV control	en_US
dc.type	Article	en_US