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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).
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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.
| Item URL in elib: | https://elib.dlr.de/52320/ | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||
| Title: | Vision-based Hover Stabilization for a Micro Helicopter | |||||||||
| Authors: |
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| Date: | 13 July 2004 | |||||||||
| Refereed publication: | No | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | 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 (old) | |||||||||
| DLR - Research area: | Aeronautics | |||||||||
| DLR - Program: | L RR - Rotorcraft Research | |||||||||
| DLR - Research theme (Project): | L - The Innovative Rotorcraft (old) | |||||||||
| Location: | Braunschweig | |||||||||
| Institutes and Institutions: | Institute of Flight Systems > System Automation | |||||||||
| Deposited By: | Dittrich, Jörg Steffen | |||||||||
| Deposited On: | 07 Jan 2008 | |||||||||
| Last Modified: | 27 Apr 2009 14:34 |
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