# Precise Interception Flight Targets by Image-based Visual Servoing of Multicopter

arXiv: https://arxiv.org/abs/2409.17497 · HTML: https://mlsanity.com/paper/2409.17497/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Sep 2024.

## Built on by (most cited first, 1 of 1)

- [Learning Agile Intruder Interception using Differentiable Quadrotor Dynamics](https://mlsanity.com/paper/2607.02472/) (2026)

## Abstract (arXiv)

Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional navigation guidance (PNG), reducing the multicopter's overload in the final interception phase. It combines smoother trajectories from the IBVS controller with high-frequency target 2D position estimation via a delayed Kalman filter (DKF) to minimize the impact of image processing delays on accuracy. In addition, a field-of-view (FOV) holding controller is designed for stability of the visual servo system. Experimental results show a circular error probability (CEP) of 0.089 m (72.8% lower than the latest relevant IBVS work) in simulations and over 80% interception success under wind conditions below 4 m/s in real world. These results demonstrate the system's potential for precise low-altitude interception of non-cooperative targets.