@inproceedings{5446537037354f988aa12c90e3cc371a,
title = "Image-based visual servoing of quadrotor using homography reconstruction",
abstract = "In this paper, a novel image-based visual servoing (IBVS) method is proposed for the case that the servoing target randomly and slowly tilts. With the basic IBVS function and virtual camera plane method, a four-dimensional image kinematics is derived. Then a transformation based homography reconstruction method is presented to solve the problem of tilting target plane by defining a new virtual camera plane. Subsequently the IBVS control laws are designed according to the quadrotor dynamics and transformed image kinematics. Finally, simulations show the validity and priority of the new method compared with the classic dynamic IBVS method.",
keywords = "Homography reconstruction, Quadrotor UAV, Virtual camera plane, Visual servoing",
author = "Shuo Zheng and Wu, \{Huai Ning\} and Liu, \{Zhou Yang\}",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8865801",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4089--4094",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "美国",
}