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Omnidirectional vision for an autonomous helicopter

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2 Author(s)
Hrabar, S. ; Robotic Embedded Syst. Lab., Southern Carolina Univ., Los Angeles, CA, USA ; Sukhatme, G.

We present the design and implementation of an omnidirectional vision system used for sideways-looking sensing on an autonomous helicopter. To demonstrate the capabilities of the system, a visual servoing task was designed which required the helicopter to locate and move towards the centroid of a number of visual targets. Results are presented showing that the task was successfully completed by a Pioneer ground robot equipped with the same omnidirectional vision system, and preliminary test flight results show that the system can generate appropriate control commands for the helicopter.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:1 )

Date of Conference:

14-19 Sept. 2003