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Detection and tracking of external features in an urban environment using an autonomous helicopter

Mejias, L.O., Saripalli, S., Sukhatme, G.S., & Cervera, P.C. (2005) Detection and tracking of external features in an urban environment using an autonomous helicopter. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, IEEE, Barcelona, Spain, pp. 3972-3977.

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Abstract

We present the design and implementation of a real-time vision-based approach to detect and track features in a structured environment using an autonomous helicopter. Using vision as a sensor enables the helicopter to track features in an urban environment. We use vision for feature detection and a combination of vision and GPS for navigation and tracking. The vision algorithm sends high level velocity commands to the helicopter controller which is then able to command the helicopter to track them. We present results obtained from flight trials that demonstrate our algorithms for detection and tracking are applicable in real world scenarios by applying them to the task of tracking rectangular features in structured environments.

Impact and interest:

6 citations in Scopus
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1 citations in Web of Science®

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Full-text downloads:

404 since deposited on 29 Jun 2007
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ID Code: 8356
Item Type: Conference Paper
Keywords: visual servoing, helicopter, feature tracking, unmanned aerial vehicles
DOI: 10.1109/ROBOT.2005.1570728
ISSN: 3972-3977
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Image Processing (080106)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2005 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 29 Jun 2007
Last Modified: 17 May 2011 15:17

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