References of "Saripalli, Srikanth"
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See detailComputer vision based general object following for GPS-denied multirotor unmanned vehicles
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; Saripalli, Srikanth et al

in 2014 American Control Conference (2014, June)

The motivation of this research is to show that visual based object tracking and following is reliable using a cheap GPS-denied multirotor platform such as the AR Drone 2.0. Our architecture allows the ... [more ▼]

The motivation of this research is to show that visual based object tracking and following is reliable using a cheap GPS-denied multirotor platform such as the AR Drone 2.0. Our architecture allows the user to specify an object in the image that the robot has to follow from an approximate constant distance. At the current stage of our development, in the event of image tracking loss the system starts to hover and waits for the image tracking recovery or second detection, which requires the usage of odometry measurements for self stabilization. During the following task, our software utilizes the forward-facing camera images and part of the IMU data to calculate the references for the four on-board low-level control loops. To obtain a stronger wind disturbance rejection and an improved navigation performance, a yaw heading reference based on the IMU data is internally kept and updated by our control algorithm. We validate the architecture using an AR Drone 2.0 and the OpenTLD tracker in outdoor suburban areas. The experimental tests have shown robustness against wind perturbations, target occlusion and illumination changes, and the system's capability to track a great variety of objects present on suburban areas, for instance: walking or running people, windows, AC machines, static and moving cars and plants. [less ▲]

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See detailAn approach toward visual autonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis UL; Pestana, Jesus; Saripalli, Srikanth et al

in Journal of Intelligent and Robotic Systems (2014), 74(1-2), 113--127

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See detailVision based GPS-denied Object Tracking and following for unmanned aerial vehicles
Pestana, Jesus; Sanchez Lopez, Jose Luis UL; Campoy, Pascual et al

in 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013, October)

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking ... [more ▼]

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants. [less ▲]

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See detailAutonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis UL; Saripalli, Srikanth; Campoy, Pascual

in 69th American Helicopter Society International Annual Forum 2013 (2013, May)

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See detailToward visual autonomous ship board landing of a VTOL UAV
Sanchez Lopez, Jose Luis UL; Saripalli, Srikanth; Campoy, Pascual et al

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the ... [more ▼]

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera. To deal with the noise and the possible fails of the computer vision, a state estimator was created. With all of this, we are now able to develop and test a controller that closes the loop and finish the autonomous landing task. [less ▲]

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