Vision-based pose estimation and control of a model helicopter

Altug E., Taylor C.

IEEE International Conference on Mechatronics (ICM 2004), İstanbul, Turkey, 3 - 05 June 2004, pp.316-321 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/icmech.2004.1364458
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.316-321
  • Istanbul Technical University Affiliated: Yes


In this paper, a vision system for pose estimation and stabilization control of a model helicopter has been proposed. This method consists of a pair of ground and onboard cameras, and it is used to estimate the full six degrees of freedom of the helicopter. The pose estimation algorithm is compared through simulation to some other feature based pose estimation methods and is shown to be less sensitive to feature detection errors. The proposed pose estimation algorithm and non-linear control techniques have been implemented on a remote controlled model helicopter.