References of "Olivares Mendez, Miguel Angel 50002787"
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See detailComputer Vision Onboard UAVs for Civilian Tasks
Campoy, Pascual; Correa, Juan F.; Mondragon, Ivan et al

in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2009), 54(1-3), 105-135

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 ... [more ▼]

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. [less ▲]

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See detailVisual 3-D SLAM from UAVs
Artieda, Jorge; Sebastian, Jose M.; Campoy, Pascual et al

in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2009), 55(4-5), 299-321

The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every ... [more ▼]

The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs. [less ▲]

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See detailTrinocular Ground System to Control UAVs
Martinez, Carol; Campoy, Pascual; Mondragon, Ivan et al

in 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (2009)

In this paper we introduce a real-time trinocular system to control rotary wing Unmanned Aerial Vehicles based on the 3D information extracted by cameras located on the ground. The algorithm is based on ... [more ▼]

In this paper we introduce a real-time trinocular system to control rotary wing Unmanned Aerial Vehicles based on the 3D information extracted by cameras located on the ground. The algorithm is based on key features onboard the UAV to estimate the vehicle's position and orientation. The algorithm is validated against onboard sensors and known 3D positions, showing that the proposed camera configuration robustly estimates the helicopter's position with an adequate resolution, improving the position estimation, especially the height estimation. The obtained results show that the proposed algorithm is suitable to complement or replace the GPS-based position estimation in situations where GPS information is unavailable or where its information is inaccurate, allowing the vehicle to develop tasks at low heights, such as autonomous landing, take-off, and positioning, using the extracted 3D information as a visual feedback to the flight controller. [less ▲]

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See detailVision for guidance and control of UAVs in civilian tasks
Campoy, Pascual; correa, Juan Fernando; Mondragon, Ivan F. et al

in UAV'08 International Symposium On Unmanned Aerial Vehicles (2008, June)

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 ... [more ▼]

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 suffi cient, 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. [less ▲]

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See detailFuzzy control system navigation using priority areas
Olivares Mendez, Miguel Angel UL; Campoy, P.; Martinez, C. et al

in Ruan, D (Ed.) COMPUTATIONAL INTELLIGENCE IN DECISION AND CONTROL (2008)

This paper presents an improvement for the software implementation (MOFS) of a user adaptive fuzzy control system for autonomous navigation of mobile robots in unknown environments. This improvement ... [more ▼]

This paper presents an improvement for the software implementation (MOFS) of a user adaptive fuzzy control system for autonomous navigation of mobile robots in unknown environments. This improvement consists of a priority areas definition where the environment is measured by a PLS laser sensor, in order to get a reduction in the number of fuzzy rules and also in the computational cost, and hence obtaining improvements in the trajectory. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, odometry sensors are used to localize the robots and the goal positions. The system is able to drive the robots to their goal position avoiding static and dynamic obstacles, without using any pre-built map. This approach improves the way to measure the danger of the obstacles, the way to follow the walls of corridors and the detection of doors. These improvements reduce the zigzag effect of the previous system by making the trajectories significantly straighter and hence reducing the time to reach the goal position. [less ▲]

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See detailFuzzy Logic User Adaptive Navigation Control System For Mobile Robots In Unknown Environments
Olivares Mendez, Miguel Angel UL; Fernadez Madrigal, Juan Antonio

in Intelligent Signal Processing, 2007. WISP 2007. IEEE International Symposium on (2007, October)

This paper presents a software implementation of a user adaptive fuzzy control system for autonomous navigation in mobile robots for unknown environments. This system has been tested in a pioneer mobile ... [more ▼]

This paper presents a software implementation of a user adaptive fuzzy control system for autonomous navigation in mobile robots for unknown environments. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, fitted with PLS laser sensor to detect the obstacles and odometry sensors for localization of robots and the goal positions. The system is able to drive the robots to their goal position avoiding static and dynamic obstacles, without using any pre-built map. Our approach learn from user behaviors in the way it can resolve different situations against obstacles or walls.We propose and implement two updates for the fuzzy system. For the implementation of the learning algorithm we use a weighting scheme giving a value for each fuzzy-rule, this value is based on the synapse-weight idea and represent the contribution of each rule in the system output. We also create of a more important sector in the definition of the fuzzy-variables, based on a statistics system that measure the uses of all the sets of the variables in order to contract the size of the rule-base. [less ▲]

Detailed reference viewed: 131 (6 UL)