In this project, a Vicon motion capture/positioning system is employed to provide the pose (ground position, ground velocity and attitude) of an autonomous quadrotor. Some markers are mounted on the vehicle so that the Vicon system can track it. The markers arrangement is stored once in the Vicon system. In practice, after a few flights the markers' configuration may be slightly altered causing offsets in the measurement of the true attitude of the quadrotor. The Vicon system itself may also measure the vehicle's attitude with some errors in the angles due to small displacements of the cameras and a long period of use without recalibration of the whole system. Since it would be very tedious and cumbersome to recalibrate the whole vision system and making sure that the markers arrangement is still valid before every flight, a simple method has been developed to accommodate any offset in the attitude measurements. Better flight performance is obtained using the method presented.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous quadrotor flight using a vision system and accommodating frames misalignment


    Beteiligte:
    Ducard, G. (Autor:in) / D'Andrea, R. (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    4 Seiten, 4 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

    Sun, Sihao / Cioffi, Giovanni / de Visser, Coen et al. | BASE | 2022

    Freier Zugriff

    Autonomous Quadrotor Flight in a Coal Mine

    Deutsches Zentrum für Luft- und Raumfahrt (DLR) | TIB AV-Portal | 2014


    Precise quadrotor autonomous landing with SRUKF vision perception

    Shuo Yang, / Jiahang Ying, / Yang Lu, et al. | IEEE | 2015


    On-board dual-stereo-vision for autonomous quadrotor navigation

    Schauwecker, Konstantin / Zell, Andreas | IEEE | 2013


    Vision-based autonomous landing of a quadrotor using a gimbaled camera

    Jiang, Tao / Lin, Defu / Song, Tao | SAGE Publications | 2019