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Visual servoing of an autonomous helicopter in urban areas using feature tracking

Journal: 
Journal of Field Robotics

DOI: 10.1002/rob.20124

Paper reference: 
Vol 23. Issue 3-4.Pages 185-199
Publication Date: 
24/04/2006

Abstract:  We present the design and implementation of a vision-based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of features in the image plane (urban features like windows) in order to generate velocity references for the flight control. These visual-based references are then combined with GPS-positioning references to navigate towards these features and then track them. We present results from experimental flight trials, performed in two UAV systems and under different conditions, that show the feasibility and robustness of our approach.