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

• Published in: 2009 International Conference on Mechatronics and Automation pp. 2863 - 2869
• Main Authors: Achtelik, Markus, Tianguang Zhang, Kuhnlenz, Kolja, Buss, Martin
• Format: Conference Proceeding
• Language: English
• 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
• ISBN: 1424426928; 9781424426928
• ISSN: 2152-7431
• DOI: 10.1109/ICMA.2009.5246421

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.