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: Contribution to journal › Conference article › peer-review

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
Pages (from-to)	87-92
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	2
Issue number	PART 1
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

ASJC Scopus subject areas

Control and Systems Engineering

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