Vision-based Autonomous Velocity Control of a Quadrotor UAV using an Onboard RGB-D Camera

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These two videos show experiments where a quadrotor platform is able to autonomously regulate its velocity based only on a RGB-D sensor and IMU (External motion capture system is used only as ground truth).

See [1] and [2] for the papers describing the method.

Source code is available at http://www.ros.org/wiki/telekyb


References

  1. P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., A Semi-autonomous UAV Platform for Indoor Remote Operation with Visual and Haptic Feedback, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 3862-3869.
  2. P. Stegagno, Basile, M., Bülthoff, H. H., and Franchi, A., Vision-based Autonomous Control of a Quadrotor UAV using an Onboard RGB-D Camera and its Application to Haptic Teleoperation, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013.