Close-quarters Quadrotor flying for a pole inspection with position based visual servoing and high-speed vision
Sa, Inkyu & Corke, Peter (2014) Close-quarters Quadrotor flying for a pole inspection with position based visual servoing and high-speed vision. In Proceedings of the 2014 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Orlando, Florida, The United States of America, pp. 623-631.
This paper presents a 100 Hz monocular position based visual servoing system to control a quadrotor flying in close proximity to vertical structures approximating a narrow, locally linear shape. Assuming the object boundaries are represented by parallel vertical lines in the image, detection and tracking is achieved using Plücker line representation and a line tracker. The visual information is fused with IMU data in an EKF framework to provide fast and accurate state estimation. A nested control design provides position and velocity control with respect to the object. Our approach is aimed at high performance on-board control for applications allowing only small error margins and without a motion capture system, as required for real world infrastructure inspection. Simulated and ground-truthed experimental results are presented.
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|Item Type:||Conference Paper|
|Keywords:||Cameras, Computational modeling, Estimation, Mathematical model, Sensors, Vectors, Vehciles|
|Divisions:||Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 IEEE|
|Deposited On:||24 Jul 2014 22:58|
|Last Modified:||28 Jul 2014 00:19|
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