Visual servoing of an autonomous helicopter in urban areas using feature tracking

Mejias, Luis and Saripalli, Srikanth and Campoy, Pascual and Sukhatme, Gaurav (2006) Visual servoing of an autonomous helicopter in urban areas using feature tracking . Journal of Field Robotics 23(3-4):pp. 185-199.

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Abstract

We present the design and implementation of a vision-based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of features in the image plane (urban features like windows) in order to generate velocity references for the flight control. These visual-based references are then combined with GPS-positioning references to navigate towards these features and then track them. We present results from experimental flight trials, performed in two UAV systems and under different conditions that show the feasibility and robustness of our approach.

Item Type:	Journal Article
Status:	Published
Keywords:	visual servoing, helicopter, feature tracking, unmanned aerial vehicles
Subjects:	280000 Information, Computing and Communication Sciences > 280200 Artificial Intelligence and Signal and Image Processing > 280203 Image Processing 290000 Engineering and Technology > 290200 Aerospace Engineering
ID Code:	8184
Deposited By:	Mejias, Luis
Deposited On:	20 June 2007
Alternative Locations:	http://dx.doi.org/10.1002/rob.20115
Copyright Owner:	Copyright 2006 John Wiley & Sons
Additional Information:	For more information, please refer to the journal's website (see hypertext link) or contact the author.