Performance of optical flow techniques
International Journal of Computer Vision
Comparison of Approaches to Egomotion Computation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Brief paper: Global trajectory tracking control of VTOL-UAVs without linear velocity measurements
Automatica (Journal of IFAC)
Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision
Journal of Intelligent and Robotic Systems
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In this paper we address the stabilization of the attitude and position of a birotor miniUAV to perform autonomous flight. For this purpose, we have implemented a Kalman-based sensor fusion between inertial sensors (gyros-accelerometers) and the optical flow (OF) provided by the vehicle. This fusion algorithm extracts the translational-OF (TOF) component and discriminates the rotational OF (ROF). The aircraft's position is obtained through an object detection algorithm (centroid tracking). Newton-Euler motion equations were used to deduce the mathematical model of the vehicle. In terms of control we have employed a saturated-based control to stabilize the state of the aircraft around the origin. Experimental autonomous flight was successfully achieved, which validates the sensing strategy as well as the embedded control law.