A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Effect of Camera Calibration Errors on Visual Servoing in Robotics
The 3rd International Symposium on Experimental Robotics III
Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback
International Journal of Robotics Research
Improvements on visual servoing from sphericaltargets using a spherical projection model
IEEE Transactions on Robotics
Decoupled visual servoing based on the spherical projection of points
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Vision-based servo control of a quadrotor air vehicle
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
IEEE Transactions on Robotics
Neural network Reinforcement Learning for visual control of robot manipulators
Expert Systems with Applications: An International Journal
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The use of unmanned aerial vehicles (UAVs) for military, scientific, and civilian sectors are increasing drastically in recent years. This study presents algorithms for the visual-servo control of an UAV, in which a quadrotor helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the visual-servo control is more reliable and fast. The method requires a camera on-board the vehicle, which is already available on various UAV systems. The UAV with a camera behaves like an eye-in-hand visual servoing system. In this study the controller was designed by using two different approaches; image based visual servo control method and hybrid visual servo control method. Various simulations are developed on Matlab, in which the quadrotor aerial vehicle has been visual-servo controlled. In order to show the effectiveness of the algorithms, experiments were performed on a model quadrotor UAV, which suggest successful performance.