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  Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation

Stegagno, P., Basile, M., Bülthoff, H., & Franchi, A. (2013). Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation. IFAC Proceedings Volumes, 46(30), 87-92.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-001A-14AA-D Version Permalink: http://hdl.handle.net/21.11116/0000-0004-4B9C-9
Genre: Conference Paper

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 Creators:
Stegagno, P1, 2, Author              
Basile, M1, 2, Author              
Bülthoff, HH1, 2, Author              
Franchi, A1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.

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 Dates: 2013-11
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.3182/20131120-3-FR-4045.00016
BibTex Citekey: StegagnoBBF2013
 Degree: -

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Title: 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013)
Place of Event: Compiegne, France
Start-/End Date: 2013-11-20 - 2013-11-22

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Title: IFAC Proceedings Volumes
Source Genre: Journal
 Creator(s):
Lozano, R., Editor
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Publ. Info: -
Pages: - Volume / Issue: 46 (30) Sequence Number: - Start / End Page: 87 - 92 Identifier: ISBN: 978-3-902823-57-1