GPS-denied hover stabilization of a quad-rotor via visual servoing

摘要

We present a hover stabilization system for a quad-rotor MAV. The stabilizer uses a downward-facing CMOS camera and a pyramidal Lucas-Kanade optical flow algorithm running on an embedded computer-on-module to detect self-motion and stabilize laterally. Using this system, the vehicle is able to hover within 20 centimeters of its original location for over five minutes above a variety of surfaces, including carpet, asphalt, concrete and grass.