Motion estimation of a miniature helicopter using a single onboard camera

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

This paper describes a technique for the estimation of the translational and rotational velocities of a miniature helicopter using the video signals from a single onboard camera. For every two consecutive frames from the camera, point correspondences are identified and Epipolar Geometry based algorithms are used to find the likely estimates of the absolute rotations and relative displacements. Images from onboard camera are often corrupted with various types of noises; SIFT descriptors were found to be the best feature descriptors to be used for point correspondences. To speed up the processing, we introduce a new representation of these descriptors based on compressive sensing formalisms. To estimate the absolute displacement of the helicopter between frames, we use the measurements from a simulated IR sensor to find the true change in altitude of the body frame, scaling other translational dimensions accordingly, and later estimating the velocities. Experiments conducted using data from a real helicopter in an indoor environment demonstrate promising results.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages4456-4461
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

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Cherian, A., Andersh, J., Morellas, V., Mettler, B., & Papanikolopoulos, N. (2010). Motion estimation of a miniature helicopter using a single onboard camera. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 4456-4461). [5530981] (Proceedings of the 2010 American Control Conference, ACC 2010).