An inertial and visual sensing system, for a small autonomous helicopter

被引：65

作者：

Corke, P ^{[1
]}

机构：

[1] CSIRO Mfg & Infrastruct Technol, Kenmore 4069, Australia

来源：

JOURNAL OF ROBOTIC SYSTEMS | 2004年 / 21卷 / 02期

关键词：

D O I：

10.1002/rob.10127

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes the design and architecture of a low-cost and light-weight inertial and visual sensing system for a small-scale autonomous helicopter. A custom 6-axis IMU and a stereo vision system provide vehicle attitude, height, and velocity information. We discuss issues such as robust visual processing, motion resolution, dynamic range, and sensitivity. (C) 2004 Wiley Periodicals, Inc.

引用

页码：43 / 51

页数：9