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Vision-based altitude and pitch estimation for ultra-light indoor microflyers

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4 Author(s)
Beyeler, A. ; Laboratory of Intelligent Syst., Ecole Polytech. Fed. de Lausanne ; Mattiussi, C. ; Zufferey, J.-C. ; Floreano, D.

Autonomous control of ultra-light indoor microflyers is a difficult and largely unsolved task because of the strong limitations on the kind of sensors that can be embedded. We propose a new approach for altitude control of a 10-gram microflyer, where altitude as well as pitch angle are estimated using a set of visual, airspeed and gyroscopic sensors that weight about 1 (g) in total. This approach does not rely on an explicit estimation of optic flow, but rather takes as input the raw images as provided by the vision sensor. We show that altitude and pitch angle of a simulated agent can be successfully estimated. This result is thus a first step toward autonomous altitude control of indoor flying robots

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006