No abstract

This paper proposes a nano-scale helicopter with an onboard camera and its control system. The total weight of the helicopter with the camera is 48 g, and the helicopter belongs to a class of nano-scale aerial vehicles. The camera looks downward, and it captures an image of the ground at each time step. The captured image data are transferred via a receiver to a computer at a ground station. The computer processes the image data, and it generates a control signal. The control signal is then supplied through a transmitter to the helicopter. Five-minutes hovering flight can be achieved by a markerless visual servo technique with phase correlation.