Unmanned helicopter control via visual servoing with occlusion handling

Yasushi Iwatani, Kei Watanabe, Koichi Hashimoto

Research output: Contribution to journalArticlepeer-review


This chapter presents an automatic take-off and landing system for an unmanned helicopter using visual servo control. Cameras are placed on the ground, and a static-eye configuration is set up. A vision-based control method with occlusion handling is implemented. The reference for the altitude in take-offs and landings is specialized to operate in ground effect. An experimental result demonstrates that the helicopter is controlled accurately.

Original languageEnglish
Pages (from-to)361-374
Number of pages14
JournalLecture Notes in Control and Information Sciences
Publication statusPublished - 2010 Apr 5

ASJC Scopus subject areas

  • Library and Information Sciences

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