This chapter is devoted to the design and implementation of a stereo-vision, inertial and altitude sensing system for a quad-rotor. The objective is to enable the vehicle to autonomously perform take-off, relative positioning, navigation and landing when evolving in unstructured, indoors, and GPS-denied environments. A real-time comparison study between a Luenberger observer, a Kalman filter and a complementary filter is also addressed, with the purpose of validating the most effective approach for combining the different sensing technologies.
CITATION STYLE
García Carrillo, L. R., Dzul López, A. E., Lozano, R., & Pégard, C. (2013). Combining stereo imaging, inertial and altitude sensing systems for the quad-rotor. In Advances in Industrial Control (pp. 139–167). Springer International Publishing. https://doi.org/10.1007/978-1-4471-4399-4_7
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