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: Contribution to journalConference article

6 Citations (Scopus)


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
Pages (from-to)87-92
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue numberPART 1
Publication statusPublished - 2013 Jan 1
Event2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France
Duration: 2013 Nov 202013 Nov 22

ASJC Scopus subject areas

  • Control and Systems Engineering

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