Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback

  title={Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback},
  author={Erdinç Altug and James P. Ostrowski and Camillo J. Taylor},
  journal={I. J. Robotics Res.},
In this paper we propose a vision-based stabilization and output tracking control method for a model helicopter. A novel two-camera method is introduced for estimating the full six-degrees-of-freedom pose of the helicopter. One of these cameras is located on-board the helicopter, and the other camera is located on the ground. Unlike previous work, these two cameras are set to see each other. The pose estimation algorithm is compared in simulation to other methods and is shown to be less… CONTINUE READING
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