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

Mejias, Luis, Saripalli, Srikanth, Campoy, Pascual, & 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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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.

Impact and interest:

95 citations in Scopus
69 citations in Web of Science®
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825 since deposited on 20 Jun 2007
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ID Code: 8184
Item Type: Journal Article
Refereed: Yes
Keywords: visual servoing, helicopter, feature tracking, unmanned aerial vehicles
DOI: 10.1002/rob.20115
ISSN: 1556-4959
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
Copyright Owner: Copyright 2006 John Wiley & Sons
Copyright Statement: The definite version is available on publication at
Deposited On: 20 Jun 2007 00:00
Last Modified: 03 Jul 2017 07:02

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