Complementary Vision Based Data Fusion For Robust Positioning and Directed Flight Of An Autonomous Quadrocopter

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Provided by: Academy & Industry Research Collaboration Center
Topic: Software
Format: PDF
In this paper, the authors describe an improved 4 DOF (x/y/z/yaw) vision based positioning solution for fully 6 DOF autonomous UAVs, optimized in terms of computation and development costs as well as robustness and performance. The positioning system combines Fourier transform-based image registration (fourier tracking) and differential optical flow computation to overcome the drawbacks of a single approach. The first method is capable of recognizing movement in four degree of freedom under variable lighting conditions, but suffers from low sample rate and high computational costs.
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