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image features. The estimation procedure enables us to track image features even
when non-predicted occlusion occurs. The implemented method integrates the im-
age feature selection, the image feature estimation and reference tracking. The ref-
erence for the altitude in take-offs and landings is specialized to operate in ground
effect. An experimental result demonstrates that the accuracy is well enough for
take-offs and landings.
19.2
Experimental Setup
The system discussed in this chapter consists of an unmanned helicopter, four sta-
tionary cameras, three computers, a digital analog (DA) converter and a transmitter
as illustrated in Figure 19.1. The helicopter does not have any sensors which mea-
sure the position or posture. It has four small black balls, and they are attached to
rods connected to the bottom of the helicopter. The black balls are indexed from
1 to 4. Their positions in the image planes are used as image features. The four
cameras are placed on the ground. Two of them look downward and the others look
upward. The downward looking cameras are mainly used for take-off and landing
control, while the upward looking cameras are used for hovering control. The cam-
eras are indexed from 1 to 4. Each two of four cameras are connected to a computer.
Camera 2
Camera 1
Helicopter
Camera 4
Camera 3
Experimental Field
DA Converter
Transmitter
Client
Computer 2
Client
Computer 1
Fig. 19.1 System configu-
ration. The system consists
of a micro helicopter, four
cameras, three computers, a
DA converter and a trans-
mitter
Server Computer
Ground Station
 
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