TY - GEN
T1 - Markerless, vision-assisted flight control of a quadrocopter
AU - Klose, Sebastian
AU - Wang, Jian
AU - Achtelik, Michael
AU - Panin, Giorgio
AU - Holzapfel, Florian
AU - Knoll, Alois
PY - 2010
Y1 - 2010
N2 - In this paper, we present a system for controlling a quadrocopter using both optical and inertial measurements. We show how to use external stereo camera measurements for visual servoing, by onboard fusion at high rates, only natural features provided by the vehicle and without any active marker. In our experiments, we show the accuracy and robustness of our system during indoor flights, as well as robustness to external flight disturbances.
AB - In this paper, we present a system for controlling a quadrocopter using both optical and inertial measurements. We show how to use external stereo camera measurements for visual servoing, by onboard fusion at high rates, only natural features provided by the vehicle and without any active marker. In our experiments, we show the accuracy and robustness of our system during indoor flights, as well as robustness to external flight disturbances.
UR - http://www.scopus.com/inward/record.url?scp=78651500260&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649019
DO - 10.1109/IROS.2010.5649019
M3 - Conference contribution
AN - SCOPUS:78651500260
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 5712
EP - 5717
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -