An inertial and visual sensing system for a small autonomous helicopter

This paper describes the design and architecture of a low-cost and light-weight inertial and visual sensing system for a small-scale autonomous helicopter. A custom 6-axis IMU and a stereo vision system provide vehicle attitude, height, and velocity information. We discuss issues such as robust visual processing, motion resolution, dynamic range, and sensitivity. © 2004 Wiley Periodicals, Inc.