TY - GEN
T1 - Vision-based autonomous control of a quadrotor UAV using an onboard RGB-D camera and its application to haptic teleoperation
AU - Stegagno, Paolo
AU - Basile, Massimo
AU - Bülthoff, Heinrich H.
AU - Franchi, Antonio
N1 - Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.
AB - In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.
UR - http://www.scopus.com/inward/record.url?scp=84896330300&partnerID=8YFLogxK
U2 - 10.3182/20131120-3-FR-4045.00016
DO - 10.3182/20131120-3-FR-4045.00016
M3 - Conference contribution
AN - SCOPUS:84896330300
SN - 9783902823571
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 87
EP - 92
BT - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
PB - IFAC Secretariat
T2 - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Y2 - 20 November 2013 through 22 November 2013
ER -