Biological Cybernetics
Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Performance of optical flow techniques
International Journal of Computer Vision
A General Approach for Egomotion Estimation with Omnidirectional Images
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Fly-inspired visual steering of an ultralight indoor aircraft
IEEE Transactions on Robotics
A Practical Visual Servo Control for an Unmanned Aerial Vehicle
IEEE Transactions on Robotics
Embedded Laser Vision System for Indoor Aerial Autonomous Navigation
Journal of Intelligent and Robotic Systems
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This paper presents a nonlinear controller for terrain following of a vertical take-off and landing vehicle (VTOL). The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU) along with a measure of the forward speed from another sensor such as global positioning system, maneuvering over a textured terrain made of planar surfaces. Assuming that the forward velocity is separately set to a desired value, the proposed control approach ensures terrain following and guaranties the vehicle does not collide with the ground during the task. The proposed control acquires an optical flow from three spatially separate observation points, typically obtained via three cameras or three non collinear directions in a unique camera. The proposed control algorithm has been tested extensively in simulation and then implemented on a quadrotor UAV to demonstrate the performance of the closed loop system.