Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments
This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position e...
| Main Authors: | , , , |
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| Other Authors: | , |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers,
2010-04-06T19:25:49Z.
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| Subjects: | |
| Online Access: | Get fulltext |