100Hz onboard vision for quadrotor state estimation
Sa, Inkyu & Corke, Peter (2012) 100Hz onboard vision for quadrotor state estimation. In Carnegie, Dale & Browne, Will (Eds.) Proceedings of the 2012 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, Wellington, New Zealand.
This paper introduces a high-speed, 100Hz, visionbased state estimator that is suitable for quadrotor control in close quarters manoeuvring applications. We describe the hardware and algorithms for estimating the state of the quadrotor. Experimental results for position, velocity and yaw angle estimators are presented and compared with motion capture data. Quantitative performance comparison with state-of-the-art achievements are also presented.
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|Item Type:||Conference Paper|
|Keywords:||Quadrotor control, 100Hz vision-based state estimator|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Deposited On:||06 Mar 2013 00:50|
|Last Modified:||07 Mar 2013 02:12|
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