Height Estimation for an Autonomous Helicopter

  • Peter Corke
  • Pavan Sikka
  • Jonathan Roberts
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


Height is a critical variable for helicopter hover control. In this paper we discuss, and present experimental results for, two different height sensing techniques: ultrasonic and stereo imaging, which have complementary characteristics. Feature-based stereo is used which provides a basis for visual odometry and attitude estimation in the future.


Stereo Imaging Stereo Vision Stereo Match Stereo Camera Ultrasonic Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Peter Corke
    • 1
  • Pavan Sikka
    • 1
  • Jonathan Roberts
    • 1
  1. 1.CSIRO Manufacturing Science & TechnologyPullenvaleAustralia

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