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A Novel Hyperacute Gimbal Eye to Implement Precise Hovering and Target Tracking on a Quadrotor

Abstract : This paper presents a new minimalist bio-inspired artificial eye of only 24 pixels, able to locate accurately a target placed in its small field of view (+/- 10 degrees). The eye is mounted on a very light custom-made gimbal system which makes the eye able to track faithfully a moving target. We have shown, that our gimbal eye can be embedded on a small quadrotor to achieve accurate hovering with respect to a target placed onto the ground. Our aiborne eye was enhanced with a bio-inspired reflex in charge of locking efficiently the robot's gaze onto a target and compensate for the robot's rotations and disturbances. The use of very few pixels allowed to implement a visual processing algorithm at a refresh rate of 400 Hz. This high refresh rate coupled to a very fast control of the eye's orientation allowed the robot to track a target moving at a speed up to 200 degrees.s(-1).
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https://hal.archives-ouvertes.fr/hal-01446791
Contributor : Stéphane Viollet <>
Submitted on : Thursday, January 26, 2017 - 12:23:06 PM
Last modification on : Thursday, December 10, 2020 - 2:42:15 PM

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  • HAL Id : hal-01446791, version 1

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Augustin Manecy, Julien Diperi, Marc Boyron, Nicolas Marchand, Stéphane Viollet. A Novel Hyperacute Gimbal Eye to Implement Precise Hovering and Target Tracking on a Quadrotor. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3212-3218. ⟨hal-01446791⟩

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