Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation

Paolo Stegagno; Massimo Basile; Heinrich H. Bülthoff; Antonio Franchi

doi:10.3182/20131120-3-FR-4045.00016

Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation

Paolo Stegagno, Massimo Basile, Heinrich H. Bülthoff, Antonio Franchi

Department of Brain and Cognitive Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.

Original language	English
Title of host publication	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
Publisher	IFAC Secretariat
Pages	87-92
Number of pages	6
Edition	PART 1
ISBN (Print)	9783902823571
DOIs	https://doi.org/10.3182/20131120-3-FR-4045.00016
Publication status	Published - 2013
Event	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France Duration: 2013 Nov 20 → 2013 Nov 22

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	2
ISSN (Print)	1474-6670

Other

Other	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Country/Territory	France
City	Compiegne
Period	13/11/20 → 13/11/22

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20131120-3-FR-4045.00016

Cite this

Stegagno, P., Basile, M., Bülthoff, H. H., & Franchi, A. (2013). Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings (PART 1 ed., pp. 87-92). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20131120-3-FR-4045.00016

Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. / Stegagno, Paolo; Basile, Massimo; Bülthoff, Heinrich H. et al.

2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1. ed. IFAC Secretariat, 2013. p. 87-92 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Stegagno, P, Basile, M, Bülthoff, HH & Franchi, A 2013, Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 2, IFAC Secretariat, pp. 87-92, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013, Compiegne, France, 13/11/20. https://doi.org/10.3182/20131120-3-FR-4045.00016

Stegagno P, Basile M, Bülthoff HH, Franchi A. Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1 ed. IFAC Secretariat. 2013. p. 87-92. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1). https://doi.org/10.3182/20131120-3-FR-4045.00016

Stegagno, Paolo ; Basile, Massimo ; Bülthoff, Heinrich H. et al. / Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1. ed. IFAC Secretariat, 2013. pp. 87-92 (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1).

@inproceedings{846a69dc5df74592858e2a5b9afe286c,

title = "Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation",

abstract = "In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.",

author = "Paolo Stegagno and Massimo Basile and B{\"u}lthoff, {Heinrich H.} and Antonio Franchi",

note = "Copyright: Copyright 2021 Elsevier B.V., All rights reserved.; 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 ; Conference date: 20-11-2013 Through 22-11-2013",

year = "2013",

doi = "10.3182/20131120-3-FR-4045.00016",

language = "English",

isbn = "9783902823571",

series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

publisher = "IFAC Secretariat",

number = "PART 1",

pages = "87--92",

booktitle = "2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings",

edition = "PART 1",

}

TY - GEN

T1 - Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation

AU - Stegagno, Paolo

AU - Basile, Massimo

AU - Bülthoff, Heinrich H.

AU - Franchi, Antonio

PY - 2013

Y1 - 2013

N2 - In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.

AB - In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.

UR - http://www.scopus.com/inward/record.url?scp=84896330300&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84896330300&partnerID=8YFLogxK

U2 - 10.3182/20131120-3-FR-4045.00016

DO - 10.3182/20131120-3-FR-4045.00016

M3 - Conference contribution

AN - SCOPUS:84896330300

SN - 9783902823571

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 87

EP - 92

BT - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings

PB - IFAC Secretariat

T2 - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013

Y2 - 20 November 2013 through 22 November 2013

ER -

Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this