NDLI: Biologically-inspired visual stabilization of a rotorcraft UAV in unknown outdoor environments

Content Provider	IEEE Xplore Digital Library
Author	Denuelle, A. Thurrowgood, S. Strydom, R. Kendoul, F. Srinivasan, M.V.
Copyright Year	2015
Description	Author affiliation: Queensland Brain Inst., Univ. of Queensland, Brisbane, QLD, Australia (Denuelle, A.; Thurrowgood, S.; Strydom, R.; Srinivasan, M.V.) \|\| Autonomous Syst. Program, CSIRO, Brisbane, QLD, Australia (Kendoul, F.)
Abstract	This paper presents the development and flight testing of a novel and efficient view-based method for the navigation and control of rotorcraft unmanned aerial vehicles (UAVs) in unknown, GPS-denied, outdoor environments. At the core of our system is the Image Coordinates Extrapolation (ICE) algorithm which estimates the UAV 3D position and velocity in real-time by computing the pixel-wise difference between the current view (panoramic image) and a snapshot taken at a reference location (e.g., the hovering position). When combined with a PID flight controller, this simple, but effective algorithm allows a rotorcraft UAV to achieve stable and drift-free hover using image differences only, without the need to track features or to compute optic flow. The performance of our approach is evaluated in closed-loop flight tests on a custom-built quadrotor equipped with an onboard panoramic vision system and flight computer.
Starting Page	1084
Ending Page	1093
File Size	2489633
Page Count	10
File Format	PDF
e-ISBN	9781479960101
DOI	10.1109/ICUAS.2015.7152400
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Integrated optics Three-dimensional displays Biomedical optical imaging Optimized production technology Optical imaging Biology Optical sensors
Content Type	Text
Resource Type	Article

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