Attitude Estimation of 3-DOF Lab Helicopter Based on Optical Flow

摘要：

　　This paper proposes an attitude estimation method only based on optical flow and achieves the attitude tracking for a three degree-of-freedom(3-DOF)lab helicopter.The relation between optical flow and the motion of the helicopter is derived from the transformation between the image coordinate and the world coordinate.Then,the attitude information is acquired by solving nonlinear equations.Experiment results on the lab helicopter demonstrate the validity of the attitude estimation method.

关键词： Optical flow Attitude estimation 3-DOF helicopter

作者: ZHANG Lianhua SHI Zongying ZHONG YiSheng

作者单位: Department of Automation,TNList,Tsinghua University,Beijing,100084,P.R.China;China Astronaut Researc Department of Automation,TNList,Tsinghua University,Beijing,100084,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8536-8541

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）