Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors

In this paper a complete system is designed and implemented, in which the motion of a quadcopter is stably controlled based on visual feedback and measurements of inertial sensors. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve...

Full description

Saved in:
Bibliographic Details
Published in2009 International Conference on Mechatronics and Automation pp. 2863 - 2869
Main Authors Achtelik, Markus, Tianguang Zhang, Kuhnlenz, Kolja, Buss, Martin
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2009
Subjects
Cameras
Computer vision
Control systems
Costs
Global Positioning System
Machine vision
Motion control
motion estimation
multiple sensing system
Robustness
Sensor systems
UAV/MAV control
Unmanned aerial vehicles
Vision system
Online AccessGet full text
ISBN1424426928
9781424426928
ISSN2152-7431
DOI10.1109/ICMA.2009.5246421

Cover

More Information
Summary:In this paper a complete system is designed and implemented, in which the motion of a quadcopter is stably controlled based on visual feedback and measurements of inertial sensors. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve visibility under various perspectives as well as robustness towards disturbances in the image-based pose estimation. Moreover, position- and heading controllers for the quadcopter were implemented to show the system's capabilities. The performance of the controllers was further improved by the use of inertial sensors of the quadcopter. A closed-loop control system is successfully conducted.
ISBN:1424426928
9781424426928
ISSN:2152-7431
DOI:10.1109/ICMA.2009.5246421