Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moiré Patterns

Abstract

We present the vision-based estimation and control of a quadrotor vehicle using a single camera relative to a novel target that incorporates the use of moiré patterns. The objective is to acquire the six degree of freedom estimation that is essential for the operation of vehicles in close proximity to other craft and landing platforms. A target contains markers to determine its relative orientation and locate two sets of orthogonal moiré patterns at two different frequencies. A camera is mounted on the vehicle with the target in the field of view. An algorithm processes the images, extracting the attitude and position information of the camera relative to the target utilizing geometry and four single-point discrete Fourier transforms on the moiré patterns. The position and yaw estimations with accompanying control techniques have been implemented on a remote-controlled quadrotor. The flight tests conducted prove the system's feasibility as an option for precise relative navigation for indoor and outdoor operations.

On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV

“…One example is the quadrotor MAV presented in [21] that relies on visual markers. This MAV, however, does not perform any on-board image processing, but wirelessly transmits the camera images to a ground computer.…”

On-board dual-stereo-vision for autonomous quadrotor navigation

“…One example is the quadrotor MAV presented in [2] that relies on visual markers. This MAV, however, does not perform any on-board image processing, but wirelessly transmits the camera images to a ground computer.…”

Mobile Prototyping Platforms for Remote Engineering Applications

“…• Auto pilot, including o autonomous navigation based on GPS and additional sensor inputs, like ultrasonic sensors (see Figure 11, [12,14]) o autonomous landing, o In case of radio transmission failure of the remote control system, the system switches to a fail-safe mode and lands safely by itself [16,17] o autonomous homing (return to the Quadrocopter ground station after completion of all tasks or for battery recharging) o way point navigation, fly autonomously along pre-defined way points (according to the users requirements) • Intelligent navigation based on mission guidelines o optimal WLAN or X-Bee field intensity [7,15], o optimal functional placement as mobile device for ad-hoc networks, o enhancement of WLAN coverage providing relay functionality • General reconnaissance and coordination o distributed reconnaissance in coordination with base stations, o video observation, transmission and recording Figure 10. FPGA-based hardware-independent framework [13] • Assistance of communication services to other mobiles and seamless integration into the remaining communication infrastructure as a whole in case of emergencies.…”