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A visual servoing approach for tracking features in urban areas using an autonomous helicopter

Mejias, Luis, Saripalli, Srikanth , Campoy, Pascual , & Sukhatme, Gaurav (2006) A visual servoing approach for tracking features in urban areas using an autonomous helicopter. In IEEE International Conference on Robotics and Automation 2006, May, Orlando, Florida.

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Abstract

The use of Unmanned Aerial Vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust.

Impact and interest:

21 citations in Scopus
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6 citations in Web of Science®

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386 since deposited on 29 Jun 2007
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ID Code: 8357
Item Type: Conference Paper
DOI: 10.1109/ROBOT.2006.1642078
ISSN: 1050-4729
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Copyright Owner: Copyright 2006 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: 29 Feb 2012 23:53

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