2A1-I10 小型ヘリコプタのマーカレス高信頼ビジュアルサーボ(飛行ロボット・メカトロニクス(1))

抄録

This paper proposes a dependable visual control method for a small-scale helicopter with a wireless camera. The camera sometimes captures noisy images, and we cannot control the helicopter by directly using the captured images. The 3D position, the posture and noise information are given by a parallel template matching technique. The proposed method does not require any known markers.