Design and implementation of a vision-based hovering and feature tracking algorithm for a quadrotor
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Date
2016
Authors
Lee, Y.H.
Chahl, J.S.
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Conference paper
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IOP Conference Series: Materials Science and Engineering, 2016, vol.152, iss.1, article no. 012015, pp.1-9
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6th Innovation in Aerospace Engineering and Technology, AEROTECH 2016 (8 Nov 2016 - 9 Nov 2016 : Kuala Lumpur, Malaysia)
Abstract
This paper demonstrates an approach to the vision-based control of the unmanned quadrotors for hover and object tracking. The algorithms used the Speed Up Robust Features (SURF) algorithm to detect objects. The pose of the object in the image was then calculated in order to pass the pose information to the flight controller. Finally, the flight controller steered the quadrotor to approach the object based on the calculated pose data. The above processes was run using standard onboard resources found in the 3DR Solo quadrotor in an embedded computing environment. The obtained results showed that the algorithm behaved well during its missions, tracking and hovering, although there were significant latencies due to low CPU performance of the onboard image processing system.
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Copyright 2016 the authors. Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. Published under licence by IOP Publishing Ltd (http://creativecommons.org/licenses/by/3.0)