Stabilization of an unmanned aerial vehicle using real-time embedded motion estimation

Matthieu Claybrough, Francois Defay
2012 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
OATAO is an open access repository that collects the work of Toulouse researchers and makes it freely available over the web where possible. This is an author-deposited version published in: http://oatao.univ-toulouse.fr/ Eprints ID: 8284 Any correspondence concerning this service should be sent to the repository Abstract-This paper presents an image-based velocity control method for a VTOL UAV. For increased autonomy, a realtime embedded global motion estimation process using efficient feature
more » ... g efficient feature tracking was developed. The VTOL vehicle is assumed to be equipped with a minimum sensor suite -i.e. a camera, altitude sensor and IMU-and to hover over a featured flat plane. This paper first presents a fast feature-based global motion estimation method, and then proposes a control strategy based on this method. Finally, experimental results using a quadrotor demonstrate the performance of the proposed control strategy and feature-based motion estimation.
doi:10.1109/robio.2012.6491293 dblp:conf/robio/ClaybroughD12 fatcat:edxtpghvlvhgxhoofdi5yrh544