Computing camera parameters using vanishing-line information from a rectangular parallelepiped
Machine Vision and Applications
The computation of optical flow
ACM Computing Surveys (CSUR)
Using On-line Simulation for Adaptive Path Planning of UAVs
DS-RT '07 Proceedings of the 11th IEEE International Symposium on Distributed Simulation and Real-Time Applications
Tracking a Ground Moving Target with a Quadrotor Using Switching Control
Journal of Intelligent and Robotic Systems
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In this paper, a vision based line tracking control strategy for mini-rotorcraft is presented. In order to estimate the 3-D position of the mini-rotorcraft over the trajectory a vanishing points technique is used. A dynamic model is derived employing the Newton---Euler approach and a nonlinear controller to stabilize, in closed-loop system, this mathematical model is proposed. To validate the theoretical results, a real-time embedded control system has been developed. The performance of the vision and control algorithms has been tested when the helicopter has tracked a line painted in a wall. The experimental results have shown the good behavior of the control laws.