Title :
Vision-based pose estimation and control of a model helicopter
Author :
E. Altug;C. Taylor
Author_Institution :
Dept. of Mechanical Eng., Istanbul Tech. Univ., Turkey
fDate :
6/26/1905 12:00:00 AM
Abstract :
In this paper, a vision system for pose estimation and stabilization control of a model helicopter has been proposed. This method consists of a pair of ground and onboard cameras, and it is used to estimate the full six degrees of freedom of the helicopter. The pose estimation algorithm is compared through simulation to some other feature based pose estimation methods and is shown to be less sensitive to feature detection errors. The proposed pose estimation algorithm and non-linear control techniques have been implemented on a remote controlled model helicopter.
Keywords :
"Helicopters","Cameras","Unmanned aerial vehicles","Rotors","Global Positioning System","Surveillance","Inspection","State estimation","Aircraft","Payloads"
Conference_Titel :
Mechatronics, 2004. ICM ´04. Proceedings of the IEEE International Conference on
Print_ISBN :
0-7803-8599-3
DOI :
10.1109/ICMECH.2004.1364458