NDLI: Vision Based Position Control for MAVs Using One Single Circular Landmark

Content Provider	Springer Nature Link
Author	Eberli, Daniel Scaramuzza, Davide Weiss, Stephan Siegwart, Roland
Copyright Year	2010
Abstract	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.
Starting Page	495
Ending Page	512
Page Count	18
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	61
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-11-06
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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