Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors

Achtelik, Markus; Zhang, Tianguang; Kühnlenz, Kolja; Buss, Martin

doi:10.1109/icma.2009.5246421

Cited by 97 publications

(55 citation statements)

References 5 publications

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“…Reference [7] investigated GUI for easy control, handling and detection of the bottle for leakage issues. Reference [8] focused their experimentation on flying quad copter with 3 degree of freedom with altitude control features and precise control of the unmanned aerial vehicle. Reference [9] indicates the development of non linear control of the UAV and development of non linear model of the quad copter with six degree of freedom.…”

Section: Literature Surveymentioning

confidence: 99%

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Mandal¹,

Saw²,

Shaw³

et al. 2016

IOSR

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Section: Literature Surveymentioning

confidence: 99%

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Mandal¹,

Saw²,

Shaw³

et al. 2016

IOSR

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“…Most less-recent work has thus focused on off-board stereo processing. For example, ground mounted stereo cameras were used in [2,13] that are focused on a quadrotor MAV, which is remotely controlled by a ground computer. In [5] a forward-facing stereo camera is mounted on a quadrotor MAV, which wirelessly transmits all camera images at a relatively low frame rate.…”

Section: Related Workmentioning

confidence: 99%

On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV

Schauwecker

Zell

2013

J Intell Robot Syst

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We present a quadrotor Micro Aerial Vehicle (MAV) equipped with four cameras, which are arranged in two stereo configurations. The MAV is able to perform stereo matching for each camera pair on-board and in real-time, using an efficient sparse stereo method. In case of the camera pair that is facing forward, the stereo matching results are used for a reduced stereo SLAM system. The other camera pair, which is facing downwards, is used for ground plane detection and tracking. Hence, we are able to obtain a full 6DoF pose estimate from each camera pair, which we fuse with inertial measurements in an extended Kalman filter. Special care is taken to compensate various drift errors. In an evaluation we show that using two instead of one camera pair significantly increases the pose estimation accuracy and robustness.

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“…Most less-recent work has thus focused on offboard stereo processing. For example, ground mounted stereo cameras were used in [7], [8] that are focused on a quadrotor MAV, which is remotely controlled by a ground computer. In [9] a forward-facing stereo camera is mounted on a quadrotor MAV, which wirelessly transmits all camera images at a relatively low frame rate.…”

Section: Related Workmentioning

confidence: 99%

On-board dual-stereo-vision for autonomous quadrotor navigation

Schauwecker

Zell

2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-We present a quadrotor Micro Aerial Vehicle (MAV) capable of autonomous indoor navigation. The MAV is equipped with four cameras arranged in two stereo configurations. One camera pair is facing forward and serves as input for a reduced stereo SLAM system. The other camera pair is facing downwards and is used for ground plane detection and tracking. All processing, including sparse stereo matching, is run on-board in real-time and at high processing rates. We demonstrate the capabilities of this MAV design in several flight experiments. Our MAV is able to recover from pose estimation errors and can cope with processing failures for one camera pair. We show that by using two camera pairs instead of one, we are able to significantly increase navigation accuracy and robustness.

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Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors

Cited by 97 publications

References 5 publications

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV

On-board dual-stereo-vision for autonomous quadrotor navigation

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