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 language | English (US) |
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Pages (from-to) | 185-199 |
Number of pages | 15 |
Journal | Journal of Field Robotics |
Volume | 23 |
Issue number | 3-4 |
DOIs | |
State | Published - Mar 2006 |
Externally published | Yes |
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications