Vision-based hovering control of a small-scale unmanned helicopter

This paper describes a basic examination of vision-based hovering control of a small-scale unmanned helicopter. In previous research, helicopters are usually controlled by sensors such as GPS and gyro. However, it is difficult to mount those sensors on small-scale helicopters that have little payload. Accordingly, we use small and lightweight cameras to control the helicopter. The applications of the cameras are for observation of environment and measurement of position and attitude of the helicopter. The system of the helicopter mounted cameras is useful for an indoor surveillance system to use the helicopter as a mobile camera. We verify the efficacy of our constructed system and clearly identify some problems to be overcome in constructing an advanced system.