Height Estimation for an Autonomous Helicopter

: 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.

• Type: Conference
• Year: 2000
• Where: ISER
• Authors: Peter I. Corke, Pavan Sikka, Jonathan M. Roberts
• Keywords: Feature-based Stereo, Height Sensing Techniques, Helicopter Hover Control, ISER 2000, Robotics