On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow

Volker Grabe, Heinrich H. Bülthoff, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

72 Citations (Scopus)

Abstract

Robot vision became a field of increasing importance in micro aerial vehicle robotics with the availability of small and light hardware. While most approaches rely on external ground stations because of the need of high computational power, we will present a full autonomous setup using only on-board hardware. Our work is based on the continuous homography constraint to recover ego-motion from optical flow. Thus we are able to provide an efficient fall back routine for any kind of UAV (Unmanned Aerial Vehicles) since we rely solely on a monocular camera and on on-board computation. In particular, we devised two variants of the classical continuous 4-point algorithm and provided an extensive experimental evaluation against a known ground truth. The results show that our approach is able to recover the ego-motion of a flying UAV in realistic conditions and by only relying on the limited on-board computational power. Furthermore, we exploited the velocity estimation for closing the loop and controlling the motion of the UAV online.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages491-497
Number of pages7
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Grabe, V., Bülthoff, H. H., & Giordano, P. R. (2012). On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 491-497). [6225328] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225328