Submitted by Antonio Franchi on
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
- , “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.
- , “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.