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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).

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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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Date:13 July 2004
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
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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