Reference : Computer Vision Onboard UAVs for Civilian Tasks
Scientific journals : Article
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/9961
Computer Vision Onboard UAVs for Civilian Tasks
English
Campoy, Pascual [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Correa, Juan F. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Mondragon, Ivan [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Martinez, Carol [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Olivares Mendez, Miguel Angel mailto [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Mejias, Luis [Queensland Univ Technol, ARCAA, Sch Engn Syst, Brisbane, Qld 4000, Australia.]
Artieda, Jorge [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
2009
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Springer
54
1-3
105-135
Yes (verified by ORBilu)
0921-0296
Dordrecht
[en] UAV ; Visual servoing ; Image processing ; Feature detection ; Tracking ; SLAM
[en] Computer vision is much more than a technique to sense and recover environmental information from an UAV. It should play a main role regarding UAVs' functionality because of the big amount of information that can be extracted, its possible uses and applications, and its natural connection to human driven tasks, taking into account that vision is our main interface to world understanding. Our current research's focus lays on the development of techniques that allow UAVs to maneuver in spaces using visual information as their main input source. This task involves the creation of techniques that allow an UAV to maneuver towards features of interest whenever a GPS signal is not reliable or sufficient, e. g. when signal dropouts occur (which usually happens in urban areas, when flying through terrestrial urban canyons or when operating on remote planetary bodies), or when tracking or inspecting visual targets-including moving ones-without knowing their exact UMT coordinates. This paper also investigates visual servoing control techniques that use velocity and position of suitable image features to compute the references for flight control. This paper aims to give a global view of the main aspects related to the research field of computer vision for UAVs, clustered in four main active research lines: visual servoing and control, stereo-based visual navigation, image processing algorithms for detection and tracking, and visual SLAM. Finally, the results of applying these techniques in several applications are presented and discussed: this study will encompass power line inspection, mobile target tracking, stereo distance estimation, mapping and positioning.
http://hdl.handle.net/10993/9961
10.1007/s10846-008-9256-z
JUN 23-25, 2008
International Symposium on Unmanned Aerial Vehicles
Orlando
FL

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