Multi-camera visual servoing of a micro helicopter under occlusions

@article{Yoshihata2007MulticameraVS,
  title={Multi-camera visual servoing of a micro helicopter under occlusions},
  author={Yuta Yoshihata and Kei Watanabe and Yasushi Iwatani and Koichi Hashimoto},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2007},
  pages={2615-2620}
}
This paper proposes a switched visual feedback control method for a micro helicopter under occlusions. Two stationary cameras are placed on the ground. They track four black balls attached to rods connected to the bottom of the helicopter. The control input is computed by using the errors between the positions of the tracked objects and pre-specifled reference values for them. The multi-camera configuration is redundant for helicopter control, but it enables us to design a switched controller… CONTINUE READING
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