elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Vision-based Hover Stabilization for a Micro Helicopter

Bernatz, Andreas and Thielecke, Frank (2004) Vision-based Hover Stabilization for a Micro Helicopter. 1st European Micro Air Vehicle Conference and Flight Competition, 2004-07-13 - 2004-07-15, Braunschweig (Germany).

Full text not available from this repository.

Abstract

Penetrating urban regions or buildings with a micro helicopter is likely to fail because of missing satellite based navigation (e. g. GPS). At the DLR Institute of Flight Systems a vision system is developed for use on a micro helicopter. It could augment or even replace satellite based navigation to a certain extent. To estimate the motion and relative position of the helicopter a model is used comprised out of the projection of three dimensional features of the real world onto the image plane and the integration of accelerations. The necessary features are provided by a Lucas-Kanade tracker or through the recognition of an artificial pattern with known geometry. The framework of an extended Kalmanfilter is used to actually calculate the estimation of the model states. This paper describes the design of the vision system and the integration in the available Autonomous Rotorcraft Testbed for Intelligent Systems (ARTIS) operated by the DLR.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Vision-based Hover Stabilization for a Micro Helicopter
Authors:
AuthorsInstitution or Email of Authors
Bernatz, AndreasUNSPECIFIED
Thielecke, FrankUNSPECIFIED
Date:13 July 2004
Refereed publication:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:UAV, rotorcraft, helicopter, image processing, navigation
Event Title:1st European Micro Air Vehicle Conference and Flight Competition
Event Location:Braunschweig (Germany)
Event Type:international Conference
Event Dates:2004-07-13 - 2004-07-15
Organizer:Deutsche Gesellschaft für Ortung und Navigation e.V.
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Innovative Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Jörg Steffen Dittrich
Deposited On:07 Jan 2008
Last Modified:27 Apr 2009 14:34

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.