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Adaptive depth estimation in image based visual servo control of dynamic systems

Mahony, Robert; von Brasch, Arved; Corke, Peter Ian; Hamel, Tarek


This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order...[Show more]

CollectionsANU Research Publications
Date published: 2005
Type: Conference paper
Source: Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005
DOI: 10.1109/CDC.2005.1583016


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