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Monocular-Vision-Based Autonomous Hovering for a Miniature Flying Ball.

Lin J, Han B, Luo Q - Sensors (Basel) (2015)

Bottom Line: The position variations between the subsequent frames and the reference image are calculated by comparing their correspondence points.The Kalman filter is used to predict the position of the miniature flying ball to handle situations, such as a lost or wrong frame.The results show that the proposed method can keep the aircraft in a stable hover.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical Engineering, Beijing Institute of Technology, 5 Zhongguancun South Street, Haidian District, Beijing 100081, China. linjunqin2010@163.com.

ABSTRACT
This paper presents a method for detecting and controlling the autonomous hovering of a miniature flying ball (MFB) based on monocular vision. A camera is employed to estimate the three-dimensional position of the vehicle relative to the ground without auxiliary sensors, such as inertial measurement units (IMUs). An image of the ground captured by the camera mounted directly under the miniature flying ball is set as a reference. The position variations between the subsequent frames and the reference image are calculated by comparing their correspondence points. The Kalman filter is used to predict the position of the miniature flying ball to handle situations, such as a lost or wrong frame. Finally, a PID controller is designed, and the performance of the entire system is tested experimentally. The results show that the proposed method can keep the aircraft in a stable hover.

No MeSH data available.


Related in: MedlinePlus

System overview.
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sensors-15-13270-f006: System overview.

Mentions: The whole system (Figure 6) consists of two parts: the MFB aircraft, consisting of coaxial contra rotating twin rotors, control surfaces, an onboard controller and sensors, such as the camera and IMUs; and the ground station, which receives and processes sensor data, computes the pose of the aircraft, performs the controller strategy and sends the control commands back to the aircraft.


Monocular-Vision-Based Autonomous Hovering for a Miniature Flying Ball.

Lin J, Han B, Luo Q - Sensors (Basel) (2015)

System overview.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4507670&req=5

sensors-15-13270-f006: System overview.
Mentions: The whole system (Figure 6) consists of two parts: the MFB aircraft, consisting of coaxial contra rotating twin rotors, control surfaces, an onboard controller and sensors, such as the camera and IMUs; and the ground station, which receives and processes sensor data, computes the pose of the aircraft, performs the controller strategy and sends the control commands back to the aircraft.

Bottom Line: The position variations between the subsequent frames and the reference image are calculated by comparing their correspondence points.The Kalman filter is used to predict the position of the miniature flying ball to handle situations, such as a lost or wrong frame.The results show that the proposed method can keep the aircraft in a stable hover.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical Engineering, Beijing Institute of Technology, 5 Zhongguancun South Street, Haidian District, Beijing 100081, China. linjunqin2010@163.com.

ABSTRACT
This paper presents a method for detecting and controlling the autonomous hovering of a miniature flying ball (MFB) based on monocular vision. A camera is employed to estimate the three-dimensional position of the vehicle relative to the ground without auxiliary sensors, such as inertial measurement units (IMUs). An image of the ground captured by the camera mounted directly under the miniature flying ball is set as a reference. The position variations between the subsequent frames and the reference image are calculated by comparing their correspondence points. The Kalman filter is used to predict the position of the miniature flying ball to handle situations, such as a lost or wrong frame. Finally, a PID controller is designed, and the performance of the entire system is tested experimentally. The results show that the proposed method can keep the aircraft in a stable hover.

No MeSH data available.


Related in: MedlinePlus