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 Bulthoff, Antonio Franchi

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

4 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 languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherIFAC Secretariat
Pages87-92
Number of pages6
Volume2
EditionPART 1
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France
Duration: 2013 Nov 202013 Nov 22

Other

Other2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
CountryFrance
CityCompiegne
Period13/11/2013/11/22

Fingerprint

Remote control
Unmanned aerial vehicles (UAV)
Navigation
Stabilization
Cameras
Sensors
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Stegagno, P., Basile, M., Bulthoff, 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 IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 2, pp. 87-92). 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; Bulthoff, Heinrich; Franchi, Antonio.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 2 PART 1. ed. IFAC Secretariat, 2013. p. 87-92.

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

Stegagno, P, Basile, M, Bulthoff, 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 IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, 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, Bulthoff H, Franchi A. Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 2. IFAC Secretariat. 2013. p. 87-92 https://doi.org/10.3182/20131120-3-FR-4045.00016
Stegagno, Paolo ; Basile, Massimo ; Bulthoff, Heinrich ; Franchi, Antonio. / Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 2 PART 1. ed. IFAC Secretariat, 2013. pp. 87-92
@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 Heinrich Bulthoff and Antonio Franchi",
year = "2013",
doi = "10.3182/20131120-3-FR-4045.00016",
language = "English",
volume = "2",
pages = "87--92",
booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
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 - Bulthoff, Heinrich

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

VL - 2

SP - 87

EP - 92

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

PB - IFAC Secretariat

ER -