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JRM Vol.33 No.2 pp. 263-273
doi: 10.20965/jrm.2021.p0263
(2021)

Paper:

Real-Time Visual Feedback Control of Multi-Camera UAV

Dongqing He, Hsiu-Min Chuang, Jinyu Chen, Jinwei Li, and Akio Namiki

Chiba Unversity
1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiaba 263-8522, Japan

Received:
October 15, 2020
Accepted:
February 15, 2021
Published:
April 20, 2021
Keywords:
unmanned aerial vehicle (UAV), multicamera, visual servoing (VS), collision avoidance, semi-direct visual odometry (SVO)
Abstract
Real-Time Visual Feedback Control of Multi-Camera UAV

Concept of multi-camera UAV

Recently, flight control of unmanned aerial vehicles (UAVs) in non-global positioning system (GPS) environments has become increasingly important. In such an environment, visual sensors are important, and their main roles are self-localization and obstacle avoidance. In this paper, the concept of a multi-camera UAV system with multiple cameras attached to the body is proposed to realize high-precision omnidirectional visual recognition, self-localization, and obstacle avoidance simultaneously, and a two-camera UAV is developed as a prototype. The proposed flight control system can switch between visual servoing (VS) for collision avoidance and visual odometry (VO) for self-localization. The feasibility of the proposed control system was verified by conducting flight experiments with the insertion of obstacles.

Cite this article as:
Dongqing He, Hsiu-Min Chuang, Jinyu Chen, Jinwei Li, and Akio Namiki, “Real-Time Visual Feedback Control of Multi-Camera UAV,” J. Robot. Mechatron., Vol.33, No.2, pp. 263-273, 2021.
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Last updated on Oct. 19, 2021