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http://dx.doi.org/10.5302/J.ICROS.2012.18.1.042

Depth Estimation for Image-based Visual Servoing of an Under-actuated System  

Lee, Dae-Won (Seoul National University)
Kim, Jin-Ho (Seoul National University)
Kim, H.-Jin (Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.1, 2012 , pp. 42-46 More about this Journal
Abstract
A simple and accurate depth estimation algorithm for an IBVS (Image-Based Visual Servoing) is presented. Specifically, this algorithm is useful for under-actuated systems such as visual-guided quadrotor UAVs (Unmanned Aerial Vehicles). Since the image of a marker changes with changing pitch and roll angles of quadrotor, it is difficult to estimate depth. The proposed algorithm compensates a shape of the marker, so that the system acquire more accurate depth information without complicated processes. Also, the roll and pitch channels are decoupled so that the IBVS algorithm can be used in an under-actuated quadrotor system.
Keywords
IBVS (Imaged-Based Visual Servoing); depth estimation; under-actuated system; UAV (Unmanned Aerial Vehicle);
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