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 | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Publisher | IFAC Secretariat |
| Pages | 87-92 |
| Number of pages | 6 |
| Volume | 2 |
| Edition | PART 1 |
| DOIs | |
| Publication status | Published - 2013 |
| Externally published | Yes |
| 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 |
Other
| Other | 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 |
|---|---|
| Country | France |
| City | Compiegne |
| Period | 13/11/20 → 13/11/22 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
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.
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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
VL - 2
SP - 87
EP - 92
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
PB - IFAC Secretariat
ER -