Quadrotor control using dual camera visual feedback

Erdinç Altuǧ; James P. Ostrowski; Camillo J. Taylor

Quadrotor control using dual camera visual feedback

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

^*Bu çalışma için yazışmadan sorumlu yazar

University of Pennsylvania

Araştırma sonucu: ???type-name??? › Konferans makalesi › bilirkişi

132 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Sayfa (başlangıç-bitiş)	4294-4299
Sayfa sayısı	6
Dergi	Proceedings - IEEE International Conference on Robotics and Automation
Hacim	3
Yayın durumu	Yayınlandı - 2003
Harici olarak yayınlandı	Evet
Etkinlik	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Süre: 14 Eyl 2003 → 19 Eyl 2003

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Link to publication in Scopus

Alıntı Yap

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title = "Quadrotor control using dual camera visual feedback",

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.",

author = "Erdin{\c c} Altuǧ and Ostrowski, {James P.} and Taylor, {Camillo J.}",

year = "2003",

language = "English",

volume = "3",

pages = "4294--4299",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

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TY - JOUR

T1 - Quadrotor control using dual camera visual feedback

AU - Altuǧ, Erdinç

AU - Ostrowski, James P.

AU - Taylor, Camillo J.

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0344445641&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0344445641

SN - 1050-4729

VL - 3

SP - 4294

EP - 4299

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

Quadrotor control using dual camera visual feedback

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