Image-Based Visual Servoing of a Quadrotor Using Virtual Camera Approach

@article{Zheng2017ImageBasedVS,
  title={Image-Based Visual Servoing of a Quadrotor Using Virtual Camera Approach},
  author={Dongliang Zheng and Hesheng Wang and Jingchuan Wang and Siheng Chen and Weidong Chen and Xinwu Liang},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2017},
  volume={22},
  pages={972-982}
}
In this paper, an image-based visual servoing control law is proposed for a quadrotor unmanned aerial vehicle using an on-board monocular camera and an inertial measurement unit sensor. Based on the perspective projection model, suitable image features are defined on a rotated image plane called virtual image plane, thus a decoupled image feature dynamics is achieved. Then, a translational velocity observer is presented using these image features. The image feature dynamics and quadrotor… CONTINUE READING

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