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This paper addresses the visual servo control problem of a nano-scale quadcopter with a monocular onboard camera. The total weight of the helicopter with the camera is 48 g, and the helicopter belongs to a class of nano-scale aerial vehicles. The camera is a wireless device, and it is installed beneath the helicopter. The camera looks downward, and it captures an image of the ground at each time step...
This paper proposes a vision-based localization and control algorithm for a micro helicopter with a wireless camera in a room. The 3D position, the posture and noise information are derived by a parallel template matching technique with edge detections and Gaussian filtering. The proposed algorithm achieves long-time hovering in a room. The flight experiment does not require any specified markers,...
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