Title :
GPS-denied hover stabilization of a quad-rotor via visual servoing
Author :
Buck, Louis H. ; Manegold, David R. ; Ray, Laura E.
Author_Institution :
Phys. Sci., Inc., USA
Abstract :
We present a hover stabilization system for a quad-rotor MAV. The stabilizer uses a downward-facing CMOS camera and a pyramidal Lucas-Kanade optical flow algorithm running on an embedded computer-on-module to detect self-motion and stabilize laterally. Using this system, the vehicle is able to hover within 20 centimeters of its original location for over five minutes above a variety of surfaces, including carpet, asphalt, concrete and grass.
Keywords :
CMOS image sensors; aircraft control; autonomous aerial vehicles; cameras; helicopters; image sequences; motion control; object detection; robot vision; stability; visual servoing; GPS-denied hover stabilization system; downward-facing CMOS camera; embedded computer-on-module; micro air vehicle; pyramidal Lucas-Kanade optical flow algorithm; quad-rotor MAV; self-motion detection; stabilizer; visual servoing; Computer vision; Detectors; Feature extraction; Image motion analysis; Optical imaging; Tracking; Vehicles;
Conference_Titel :
Technologies for Practical Robot Applications (TePRA), 2014 IEEE International Conference on
Conference_Location :
Woburn, MA
Print_ISBN :
978-1-4799-4606-8
DOI :
10.1109/TePRA.2014.6869147
