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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
PublisherIFAC Secretariat
Pages87-92
Number of pages6
EditionPART 1
ISBN (Print)9783902823571
DOIs
Publication statusPublished - 2013
Event2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France
Duration: 2013 Nov 202013 Nov 22

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume2
ISSN (Print)1474-6670

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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