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Mobile Robots for Dynamic Environments by Faruk Kececi, Marco Ceccarelli

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3.Visual attitude estimation and stabilization of flying robots

Cihat Bora Yiğit and Erdinç Altuğ, Istanbul Technical University, Turkey

Abstract: This chapter deals with visual attitude estimation in flying robots, and using this information to stabilize them. Unmanned Air Vehicles (UAVs) are currently in widespread use in many applications ranging from military operations to civilian tasks. Successful control of a UAV requires accurate and fast estimation of the vehicle attitude. Usually inertial navigation systems (INS) are used to obtain this attitude information in UAVs. As an alternative or as an additional sensor, vision systems can also be used to obtain vehicle states. Vision systems are readily available on various UAV platforms and ...

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