Positional Estimation using Natural Features for Autonomous Helicopter

Abstract

Positional measurement is required for controlling a helicopter autonomously. Conventional measurement methods generally use artificial markers or GPS. The former methods need to prepare markers beforehand. The latter methods are not available in doors. Then, this paper proposes a measurement system only using sensors on the helicopter. After calculating the optical flow of floor images from a camera, the displacement of the helicopter is estimated using the height data from an ultrasonic sensor. As a result, this paper shows that the position can be estimated only from floor images and the height data from the floor.