Autonomous flight of small helicopter with real-time camera calibration

Takanori Matsukawa, Shogo Arai, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a real-time camera calibration method for an autonomous flight of a small helicopter. Our purpose is to control a small helicopter automatically by using cameras fixed on the ground. We use calibrated cameras, un-calibrated cameras, and the small helicopter that is not attached with any sensors. The proposed method finds correspondences between image features in the two images of a calibrated camera and an un-calibrated camera, and estimates the extrinsic parameters of cameras using a particle filter in real time. We evaluate a utility of the proposed method by experiments. We compare real-time calibration by typical bundle adjustment with a Gauss Newton method to the proposed method in the experiment of the small helicopter flight. The autonomous flight of the small helicopter can be achieved by the proposed method in the situation that a flight of a helicopter can not be achieved with typical bundle adjustment with a Gauss Newton method.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages242-247
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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