Quadrotor control using dual camera visual feedback

Erdinç Altuǧ*, James P. Ostrowski, Camillo J. Taylor

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

131 Citations (Scopus)

Abstract

In this paper, a vision-based stabilization and output tracking control method for a four-rotor helicopter has been proposed. A novel 2 camera method has been described for estimating the full 6 DOF pose of the helicopter This two camera system is consisting of a pan-tilt ground camera and an onboard camera. The pose estimation algorithm is compared in simulation to other methods (such as four point method, and a stereo method) and is shown to be less sensitive to feature detection errors on the image plane. The proposed pose estimation algorithm and nonlinear control techniques have been implemented on a remote controlled quadrotor helicopter.

Original languageEnglish
Pages (from-to)4294-4299
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 14 Sept 200319 Sept 2003

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