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Vision Based Position Control for MAVs Using One Single Circular Landmark

Eberli, Daniel ; Scaramuzza, Davide ; Weiss, Stephan ; Siegwart, Roland

In: Journal of Intelligent & Robotic Systems, 2011, vol. 61, no. 1-4, p. 495-512

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    Titre
    • Vision Based Position Control for MAVs Using One Single Circular Landmark
    Auteur
    • Eberli, Daniel. ETH Autonomous Systems Laboratory, 8092, Zurich, Switzerland
    • Scaramuzza, Davide. ETH Autonomous Systems Laboratory, 8092, Zurich, Switzerland
    • Weiss, Stephan. ETH Autonomous Systems Laboratory, 8092, Zurich, Switzerland
    • Siegwart, Roland. ETH Autonomous Systems Laboratory, 8092, Zurich, Switzerland
    Type de document
    • Postprint
    Langue
    • Inglese
    Publié dans
    • Journal of Intelligent & Robotic Systems, 2011, vol. 61, no. 1-4, p. 495-512. Springer Netherlands
    Autre version électronique
    Classification
    • Mécanique
    Identifiant OAI-PMH
    • oai:doc.rero.ch:311668
    Summary
    This paper presents a real-time vision based algorithm for 5 degrees-of-freedom pose estimation and set-point control for a Micro Aerial Vehicle (MAV). The camera is mounted on-board a quadrotor helicopter. Camera pose estimation is based on the appearance of two concentric circles which are used as landmark. We show that that by using a calibrated camera, conic sections, and the assumption that yaw is controlled independently, it is possible to determine the six degrees-of-freedom pose of the MAV. First we show how to detect the landmark in the image frame. Then we present a geometric approach for camera pose estimation from the elliptic appearance of a circle in perspective projection. Using this information we are able to determine the pose of the vehicle. Finally, given a set point in the image frame we are able to control the quadrotor such that the feature appears in the respective target position. The performance of the proposed method is presented through experimental results