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    题名: Using stereo vision to acquire the flight information of flapping-wing MAVs
    作者: Hsiao, Fu-yuen;Hsu, H. K.;Chen, C. L.;Yang, Lung-Jieh;Shen, J. F.
    贡献者: 淡江大學航空太空工程學系;淡江大學機械與機電工程學系
    关键词: Flapping-Wing MAV;Stereo Vision;Image Processing;Attitude Determination;Autonomous Flight
    日期: 2012-09
    上传时间: 2012-12-11 13:41:10 (UTC+8)
    出版者: 淡江大學
    摘要: This paper investigates the potential to acquire flight information, including the spatial position and attitude, of a flapping-wing micro-aerial vehicle (MAV) utilizing a stereo-vision system. The flapping-wing MAVused in this paper is the Golden Snitch developed by the MEMSLaboratory in the Tamkang University. The Golden Snitch has wing span of 20 cm and weight of 8 g. Due to limited loading capacity, a conventional inertia measurement unit cannot be installed onboard. As a result, an external stereo-vision system is a potential solution to navigate a flapping-wing MAV. At beginning, techniques of image processing and stereo vision are briefly reviewed. Then, formulae to obtain flight information through the measurements of the stereo-vision system are derived. Four types of experiments are designed and accomplished to evaluate the performance of the system. Experiment results are provided to demonstrate the applicability and constraints of our algorithms.
    關聯: 淡江理工學刊 15(3), p.213-226
    DOI: 10.6180/jase.2012.15.3.02
    显示于类别:[機械與機電工程學系暨研究所] 期刊論文


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