Control and Estimation Algorithms for the Stabilization of VTOL UAVs from Mono-Camera Measurements

This paper concerns the control of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) based on exteroceptive measurements obtained from a mono-camera vision system. By assuming the existence of a locally planar structure in the field of view of the UAV’s videocamera, the so-called homography matrix can be used to represent the vehicle’s motion between two views of the structure. In this paper we report recent results on both the problem of homography estimation from the fusion of visual and inertial data and the problem of VTOL UAV feedback stabilization from homography measurements