Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach.
Henry de PlinvalPascal MorinPhilippe MouyonTarek HamelPublished in: ICRA (2011)
Keyphrases
- visual servoing
- camera motion
- image based visual servoing
- mobile robot
- vision system
- robot control
- control law
- epipolar geometry
- end effector
- control algorithm
- three dimensional
- mechanical systems
- unmanned aerial vehicles
- image sequences
- degrees of freedom
- image space
- feature points
- video sequences
- optimization algorithm
- ground plane
- dynamic environments
- least squares
- multi objective
- control system
- optimal linear
- optical flow
- search space