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Conference Papers Year : 2012

Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions

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Fabien Expert
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Abstract

In previous studies, we described how complicated tasks such as ground avoidance, terrain following, takeoff and landing can be performed using optic flow sensors mounted on a tethered flying robot called OCTAVE. In the present study, a new programmable visual motion sensor connected to a lightweight Bluetooth module was mounted on a free-flying 50-gram helicopter called TwinCoax. This small helicopter model equipped with 3 IR-reflective markers was flown in a dedicated room equipped with a VICON system to record its trajectory. The results of this study show that despite the complex, adverse lighting conditions, the optic flow measured onboard matched the ground-truth optic flow generated by the free-flying helicopter's trajectory quite exactly.
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Dates and versions

hal-00714425 , version 1 (04-07-2012)

Identifiers

  • HAL Id : hal-00714425 , version 1

Cite

Franck Ruffier, Fabien Expert. Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions. IEEE International Conference on Complex Medical Engineering -CME-, Jul 2012, Kobe, Japan. pp.634-639. ⟨hal-00714425⟩
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