Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions

Date Submitted Feb 22, 2012          Publication Year 2017         
Author
Franck Ruffier and Fabien Expert
Abstract

In previous studies, we described how complicated tasks such as ground avoidance, terrain following, takeoff and landing can be performed using optic flow sensors mounted on a tethered flying robot called OCTAVE. In the present study, a new programmable visual motion sensor
connected to a lightweight Bluetooth module was mounted on a free-flying 50-gram helicopter called TwinCoax. This small helicopter model equipped with 3 IR-reflective markers was flown in a dedicated room equipped with a VICON system to record its trajectory. The results of this study show that despite the complex, adverse lighting conditions, the optic flow measured onboard matched the ground-truth optic flow generated by the free-flying helicopter’s trajectory quite exactly.

Citation
Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions,

Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions. 

F. Ruffier and F. Expert

International Conference on Complex Medical Engineering (CME 2012), Kobe, Japan 1-4 July 2012.