Skip to main content
Springer Nature Link
Log in

Height Estimation for an Autonomous Helicopter

  • Conference paper
  • First Online:
Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

  • 1132 Accesses

Abstract

Height is a critical variable for helicopter hover control. In this paper we discuss, and present experimental results for, two different height sensing techniques: ultrasonic and stereo imaging, which have complementary characteristics. Feature-based stereo is used which provides a basis for visual odometry and attitude estimation in the future.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. J. Banks. Reliability Analysis of Transform-Based Stereo Matching Techniques, and a New Matching Constraint. PhD thesis, Queensland University of Technology, 1999.

    Google Scholar 

  2. D. Charnley, C. G. Harris, M. Pike, E. Sparks, and M. Stephens. The DROID 3D Vision System-algorithms for geometric integration. Technical Report 72/88/N488U, Plessey Research Roke Manor, December 1988.

    Google Scholar 

  3. R. Deriche and G. Giraudon. A computational approach for corner and vertex detection. Int. J. Computer Vision, 10(2):101–124, 1993.

    Article  Google Scholar 

  4. S. Kagami, K. Okada, M. Inaba, and H. Inoue. Design and implementation of onbody real-time depthmap generation system. In Proc. IEEE Int. Conf. Robotics and Automation, pages 1441–1446, April 2000.

    Google Scholar 

  5. J. M. Roberts. Attentive Visual Tracking and Trajectory Estimation for Dynamic Scene Segmentation. PhD thesis, University of Southampton, UK, dec 1994.

    Google Scholar 

  6. S. M. Smith. A New Class of Corner Finder. In Proceedings of the British Machine Vision Conference, Leeds, pages 139–148, 1992.

    Google Scholar 

  7. Z. Zhang, R. Deriche, O. Faugeras, and Q.-T. Luong. A robust technique for matching two uncalibrated images through the recovery of the unknown epipolar geometry. Technical Report 2273, INRIA, Sophia-Antipolis, May 1994.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. CSIRO Manufacturing Science & Technology, Pullenvale, Australia

    Peter Corke, Pavan Sikka & Jonathan Roberts

Authors
  1. Peter Corke
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Pavan Sikka
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jonathan Roberts
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

Rights and permissions

Reprints and permissions

Copyright information

© 2001 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Corke, P., Sikka, P., Roberts, J. (2001). Height Estimation for an Autonomous Helicopter. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_11

Download citation

  • DOI: https://doi.org/10.1007/3-540-45118-8_11

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics