TY - GEN
T1 - Vision-based pose estimation and control of a model helicopter
AU - Altuǧ, Erdinç
AU - Taylor, Camillo
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=13944250624&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:13944250624
SN - 0780385993
T3 - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
SP - 316
EP - 321
BT - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
T2 - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Y2 - 3 June 2004 through 5 June 2004
ER -