Height Estimation and Image Tracking Control of an Indoor Quad-Rotor Craft via Multi-Vision Systems

This paper presents a novel height estimation and image tacking control scheme for an indoor quad-rotor craft based on image servoing techniques. Two multi-vision systems, namely, stereo vision system and humanoid vision system, respectively, were proposed for use as image servoing subsystems whose performances were examined and compared. A specific landmark was used as a target for image tracking by which the height and position of a quad-rotor craft were estimated for positioning control. The experimental results suggest that the performance of HSV color model based tracking method either by stereo vision system or humanoid vision system is quite acceptable. Specifically, the accuracy of the humanoid vision system seems a bit better than the stereo vision system for quad-rotor

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