Title :
Attitude estimation of 3-DOF lab helicopter based on optical flow
Author :
Zhang Lianhua ; Shi Zongying ; Zhong Yisheng
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
This paper proposes an attitude estimation method only based on optical flow and achieves the attitude tracking for a three degree-of-freedom (3-DOF) lab helicopter. The relation between optical flow and the motion of the helicopter is derived from the transformation between the image coordinate and the world coordinate. Then, the attitude information is acquired by solving nonlinear equations. Experiment results on the lab helicopter demonstrate the validity of the attitude estimation method.
Keywords :
aerospace computing; autonomous aerial vehicles; control engineering computing; image sequences; nonlinear equations; object tracking; 3-DOF lab helicopter; attitude estimation method; attitude tracking; image coordinate; nonlinear equations; optical flow; three degree-of-freedom lab helicopter; unmanned aerial vehicles; world coordinate; Computer vision; Estimation; Helicopters; Image motion analysis; Nonlinear optics; Optical feedback; Optical imaging; 3-DOF helicopter; Attitude estimation; Optical flow;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896433
