Visual servoing of an autonomous helicopter urban areas using feature tracking

Luis Mejías, Srikanth Saripalli, Pascual Campoy, Gaurav S. Sukhatme

Research output: Contribution to journalArticlepeer-review

121 Scopus citations

Abstract

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.

Original languageEnglish (US)
Pages (from-to)185-199
Number of pages15
JournalJournal of Field Robotics
Volume23
Issue number3-4
DOIs
StatePublished - Mar 2006
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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