Since precise self-position estimation is required for autonomous flight of aerial robots, there has been some studies on self-position estimation of indoor aerial robots. In this study, we tackle the self-position estimation problem by mounting a small downward-facing camera on the chassis of an aerial robot. We obtain robot position by sensing the features on the indoor floor. In this work, we used the vertex points ( tile corners ) where four tiles on a typical tiled floor connected, as an existing feature of the floor. Furthermore, a small lightweight microcontroller is mounted on the robot to perform image processing for the on-board camera. A lightweight image processing algorithm is developed. So, the real-time image processing could be performed by the microcontroller alone which leads to conduct on-board real time tile corner detection. Furthermore, same microcontroller performs control value calculation for flight commanding. The flight commands are implemented based on the detected tile corner information. The above mentioned all devices are mounted on an actual machine, and the effectiveness of the system was investigated.

中文翻译：

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感知现有地面特征的小型航空机器人悬停控制研究

由于空中机器人的自动飞行需要精确的自身位置估计，因此已经进行了一些关于室内空中机器人的自我位置估计的研究。在这项研究中，我们通过在空中机器人的底盘上安装一个小型的向下摄像头来解决自我位置估计问题。我们通过感应室内地板上的特征来获取机器人的位置。在这项工作中，我们使用了一个顶点（瓷砖角），将典型瓷砖地板上的四个瓷砖连接在一起，作为地板的现有特征。此外，小型轻量级微控制器安装在机器人上，以执行车载摄像头的图像处理。开发了一种轻量级的图像处理算法。因此，实时图像处理可以仅由微控制器执行，这导致进行板载实时瓦片角点检测。此外，相同的微控制器执行用于飞行指令的控制值计算。飞行命令是基于检测到的瓦片角信息来实现的。上面提到的所有设备都安装在实际的机器上，并研究了系统的有效性。