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This paper presents an image-based velocity control method for a VTOL UAV. For increased autonomy, a real-time embedded global motion estimation process using efficient feature tracking was developed. The VTOL vehicle is assumed to be equipped with a minimum sensor suite - i.e. a camera, altitude sensor and IMU - and to hover over a featured flat plane. This paper first presents a fast feature-based global motion estimation method, and then proposes a control strategy based on this method. Finally, experimental results using a quadrotor demonstrate the performance of the proposed control strategy and feature-based motion estimation.