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Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions

Franck Ruffier 1 Fabien Expert 2
2 BIOROB - Biorobotique
ISM - Institut des Sciences du Mouvement Etienne Jules Marey
Abstract : In previous studies, we described how complicated tasks such as ground avoidance, terrain following, takeoff and landing can be performed using optic flow sensors mounted on a tethered flying robot called OCTAVE. In the present study, a new programmable visual motion sensor connected to a lightweight Bluetooth module was mounted on a free-flying 50-gram helicopter called TwinCoax. This small helicopter model equipped with 3 IR-reflective markers was flown in a dedicated room equipped with a VICON system to record its trajectory. The results of this study show that despite the complex, adverse lighting conditions, the optic flow measured onboard matched the ground-truth optic flow generated by the free-flying helicopter's trajectory quite exactly.
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https://hal.archives-ouvertes.fr/hal-00714425
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Submitted on : Wednesday, July 4, 2012 - 5:15:53 PM
Last modification on : Thursday, February 7, 2019 - 2:45:42 PM
Long-term archiving on: : Friday, October 5, 2012 - 3:51:08 AM

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Franck Ruffier, Fabien Expert. Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions. IEEE International Conference on Complex Medical Engineering -CME-, Jul 2012, Kobe, Japan. pp.634-639. ⟨hal-00714425⟩

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