Visual Servoing for UAVs

Abstract

In this chapter, we have presented some of the techniques used for real time visual servoing on UAVs. These techniques includes visual algorithms for features detection and tracking, pose estimation, visual and pose based control systems, and fuzzy controllers, using them to increase the capabilities of UAVs in situations like object tracking, low altitude tasks such as: positioning and landing. The methods explained have been integrated in a UAV control architecture, forming both, visual and pose based control systems, that have been tested on real UAV flights, showing the advantages of using visual systems on this kind of robots. Additional examples and videos of the visual systems and process presented in this chapter are available at the Colibri Project web page COLIBRI (2009)