Monocular-Vision-Based Autonomous Hovering for a Miniature Flying Ball

Monocular-Vision-Based Autonomous Hovering for a Miniature Flying Ball

Blog Article

This paper presents a method for detecting and controlling model the autonomous hovering of a miniature flying ball (MFB) based on monocular vision.A camera is employed to estimate the three-dimensional position of the vehicle relative to the ground without auxiliary sensors, such as inertial measurement units (IMUs).An image of the ground captured by the camera mounted directly under the miniature flying ball is set as a reference.

The position variations between the subsequent Stock Pot Ranges frames and the reference image are calculated by comparing their correspondence points.The Kalman filter is used to predict the position of the miniature flying ball to handle situations, such as a lost or wrong frame.Finally, a PID controller is designed, and the performance of the entire system is tested experimentally.

The results show that the proposed method can keep the aircraft in a stable hover.