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JFR
2006

Visual servoing of an autonomous helicopter in urban areas using feature tracking

9 years 10 months ago
Visual servoing of an autonomous helicopter in urban areas using feature tracking
We present the design and implementation of a vision-based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of features in the image plane (urban features like windows) in order to generate velocity references for the flight control. These visual-based references are then combined with GPS-positioning references to navigate towards these features and then track them. We present results from experimental flight trials, performed in two UAV systems and under different conditions that show the feasibility and robustness of our approach.
Luis Mejías, Srikanth Saripalli, Pascual Ca
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where JFR
Authors Luis Mejías, Srikanth Saripalli, Pascual Campoy, Gaurav S. Sukhatme
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