Metric sensing and control of a quadrotor using a homography-based visual inertial fusion method
详细信息 查看全文
- 作者：Ping Li ; ping.li@student.adfa.edu.au" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Matthew Garratt M.Garratt@adfa.edu.au" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Andrew Lambert A.Lambert@adfa.edu.au" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Shanggang Lin Shanggang.Lin@student.adfa.edu.au" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Visual inertial fusion ; Optic flow ; Homography ; Micro Aerial Vehicles
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：February 2016
- 年：2016
- 卷：76
- 期：Complete
- 页码：1-14
- 全文大小：6109 K
文摘
- •
The 1-SVD method is shown to be superior over the traditional 2-SVD approach.
- •
Robustness of the LK algorithm is improved using a transformed binary image.
- •
A visual inertial fusion method is proposed to estimate metric speed and distance.
- •
Closed-loop flight proves our approach is suitable for general flight of a MAV.