Small unmanned aerial vehicles are cost-effective and easy to operate, and especially suitable in dangerous indoor environments. However, because GPS is not available in an indoor environment, indoor localization is a crucial problem in developing small unmanned aerial vehicles (UAVs). This paper suggests vision-based indoor localization for UAVs in GPS-denied environments. Our approach is based on image matching by applying the scale invariant feature transform algorithm.

Vision-based unmanned aerial vehicle (UAV) control is a core technology in global positioning system (GPS)-denied environments. However, small UAVs have difficulty processing image data in real time because of their limited payload capacity and relatively weak processor. Development of an image-processing system that is suitable for small UAVs is therefore needed. In this paper, an approach for a vision-based simultaneous localization and mapping (SLAM) system for small UAVs is suggested. For real-time localization, a method wherein Kanade-Lucas-Tomasi-based localization and tracking are performed within small UAVs in real time is adopted. At the same time, scale-invariant feature transform–based mapping and more accurate localization are performed at the ground-control station. A vision-based three-dimensional map-building method for small UAVs using a monocular camera is also proposed. The proposed method first extracts straight-line information from images and calculates their equations in thre...

In this paper, we propose a platform for an insect-like flapping winged micro aerial vehicle with a resonant wing-driving system using extension springs (FMAVRES). The resonant wing-driving system is constructed using an extension spring instead of the conventional helical or torsion spring. The extension spring can be mounted more easily, compared with a torsion spring. Furthermore, the proposed resonant driving system has better endurance compared with systems with torsion springs. Using a prototype FMAVRES, it was found that torques generated for roll, pitch, and yaw control are linear to control input signals. Considering transient responses, each torque response as an actuator is modelled as a simple first-order system. Roll, pitch, and yaw control commands affect each other. They should be compensated in a closed loop controller design. Total weight of the prototype FMAVRES is 17.92 g while the lift force of it is 21.3 gf with 80% throttle input. Thus, it is expected that the new platform of FMAVRES could be used effectively to develop simple and robust flapping MAVs.