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
Vision-based terrain following for an unmanned rotorcraft
Journal of Field Robotics
Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy
Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy
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
Vision-based control of near-obstacle flight
Autonomous Robots
Visual steering of uav in unknown environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bioinspired visuomotor convergence
IEEE Transactions on Robotics
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
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
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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, IMU and barometric altimeter) maneuvering over a textured rough terrain made of a concatenation of planar surfaces. Assuming that the forward velocity is separately regulated to a desired value, the proposed control approach ensures terrain following and guarantees that the vehicle does not collide with the ground during the task. The proposed control acquires an optical flow from multiple spatially separate observation points, typically obtained via multiple cameras or 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.