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This paper presents and implements a method to detect actuator faults (loss of effectiveness) for a quadrotor unmanned helicopter (known as the Qball-X4) altitude control. Fault model is presented with the first principle physical modeling method. Mathematical model is further adjusted based on the grey-light-box scheme to adjust the model parameters and reduce model uncertainty of the Qball-X4. The...
We present correspondence with category Latent Dirichlet Allocation (corr-c-LDA), a novel probabilistic topic model for the task of image and video annotation. The heart of our annotation model lies in introducing the class label information and assuming the dependence relationships between class label and image feature, as well as class label and annotation words. Instead of modeling the image and...
In this paper, we show that the images of the circular points can be identified by solving the intersection of two imaged coplanar circles under projective transformation and thus metric planar rectification can be achieved. The advantage of this approach is that it eliminates the troublesome camera calibration or vanishing line identification step that underlies many previous approaches and makes...
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