Quadcopter Control Using Onboard Monocular Camera for Enriching Remote Laboratory Facilities

F. Khattar , F. Dornaika , Franck Luthon (1) , Benoît Larroque

1 LIUPPA - Laboratoire Informatique de l'Université de Pau et des Pays de l'Adour

We present the implementation of a visual localization and control system of a low cost quadcopter for an application in a remote electronic laboratory. The issues addressed are: environment exploration in remote laboratories, autonomous visual inspection of planar objects, and autonomous homing and landing. The localization system is composed of two complementary visual approaches: (i) a visual SLAM (Simultaneous Localization And Mapping) system, and (ii) a homography-based localization system. We extend the application scenarios of the first system by allowing close range inspection of a planar electrical instrument and autonomous landing. Experiments conducted in a remote laboratory workspace are presented. They prove the performance of the proposed system in terms of real-time and robustness.

Domaines: Traitement du signal et de l'image [eess.SP]; Automatique / Robotique

F. Khattar, F. Dornaika, Franck Luthon, Benoît Larroque. Quadcopter Control Using Onboard Monocular Camera for Enriching Remote Laboratory Facilities. 21th IEEE International Conference on Automation, Quality and Testing, Robotics(AQTR 2018), May 2018, Cluj-Napoca, Romania. ⟨hal-01809646⟩