Metric sensing and control of a quadrotor using a homography-based visual inertial fusion method

摘要

Is a locust a computer? A locust is certainly an autonomous rotary-wing micro aerial vehicle (RMAV), and command and control of RMAVs is important for applications. How does one duplicate the locust's proprioception using a monocular camera and an inertial measurement unit (IMU)? Larger airborne vehicles, that is, airplanes and helicopters, use heavy mechanical gyroscopes or ring laser gyros to determine attitude, that is, the pitch, yaw, and roll angles that specify where the vehicle is pointed. But these require too much power (either due to weight or computational requirements) for an RMAV.