Markerless, vision-assisted flight control of a quadrocopter

In this paper, we present a system for controlling a quadrocopter using both optical and inertial measurements. We show how to use external stereo camera measurements for visual servoing, by onboard fusion at high rates, only natural features provided by the vehicle and without any active marker. In our experiments, we show the accuracy and robustness of our system during indoor flights, as well as robustness to external flight disturbances.