A Cooperative Aerial Robotic Approach for Tracking and Estimating the 3D Position of a Moving Object by Using Pseudo-Stereo Vision

Trujillo, Juan-Carlos; Munguía, Rodrigo; Ruı́z-Velázquez, E.; Castillo–Toledo, B.

doi:10.1007/s10846-019-00981-8

Cited by 7 publications

(2 citation statements)

References 26 publications

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“…The 3D point cloud of UAV photogrammetry is obtained by aerial triangulation, which is a method of tie point densification that uses the intrinsic geometric characteristics of aerial photogrammetry. The principle of this method is to use overlapped aerial images and photogrammetric methods to build a flight route model or regional network model (optical or digital) corresponding to the field, and to obtain planar coordinates and elevations of densified point cloud sets [44]. In general, the accuracy and resolution of UAV aerial photography are less than that of TLS.…”

Section: A Data Acquisitionmentioning

confidence: 99%

A Monitoring Method Integrating Terrestrial Laser Scanning and Unmanned Aerial Vehicles for Different Landslide Deformation Patterns

Jiang¹,

Li²,

Hu³

et al. 2021

IEEE J. Sel. Top. Appl. Earth Observations Remote Sensing

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The three-dimensional deformation monitoring of landslides is very complex due to the uncertainty of movement direction and the difficulty in searching the corresponding points before and after deformation. In this study, a landslide deformation monitoring method based on the integration of Terrestrial Laser Scanning (TLS) and Unmanned Aerial Vehicles (UAVs) is presented. This method can quickly obtain highprecision and large-scale terrain information in the absence of sufficient ground control points (GCPs), and can accurately describe the real movement of landslides. The Real-Time Kinematic (RTK) and Post Processed Kinematic (PPK) are applied to localize the initial positions of TLS and UAV, respectively. The Iterative Closest Point (ICP) algorithm is applied to register the TLS and UAV point cloud data. Then, the RTKbased GCPs and TLS-based GCPs are obtained to improve the accuracy of UAV data. After that, 3D deformation analyses based on Shortest Distance (SD) method and horizontal deformation based on Difference of Orthophotos (DOO) are applied through point clouds and orthophotos. The proposed method is demonstrated by the monitoring a reactivated ancient landslide (Aniangzhai) in Danba County, Southwest China. The real deformation of the landslide has been validated with the registered TLS data. The results indicate that the downcutting of the riverbed and erosion to the slope toe caused by the dam break flood are the main reasons for the reactivation.

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Section: A Data Acquisitionmentioning

confidence: 99%

A Monitoring Method Integrating Terrestrial Laser Scanning and Unmanned Aerial Vehicles for Different Landslide Deformation Patterns

Jiang¹,

Li²,

Hu³

et al. 2021

IEEE J. Sel. Top. Appl. Earth Observations Remote Sensing

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“…In this case, the moving target position is directly obtained by a stereo system, with a baseline of 15 cm. The method ( 4) is based on the approach presented in [68]. In this case, UAVs are equipped with GPS, and the moving target position is estimated through the pseudo-stereo vision system composed of the monocular cameras of each UAV.…”

Section: Comparative Studymentioning

confidence: 99%

Cooperative Visual-SLAM System for UAV-Based Target Tracking in GPS-Denied Environments: A Target-Centric Approach

et al. 2020

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Autonomous tracking of dynamic targets by the use of Unmanned Aerial Vehicles (UAVs) is a challenging problem that has practical applications in many scenarios. In this context, a fundamental aspect that must be addressed has to do with the position estimation of aerial robots and a target to control the flight formation. For non-cooperative targets, their position must be estimated using the on-board sensors. Moreover, for estimating the position of UAVs, global position information may not always be available (GPS-denied environments). This work presents a cooperative visual-based SLAM (Simultaneous Localization and Mapping) system that allows a team of aerial robots to autonomously follow a non-cooperative target moving freely in a GPS-denied environment. One of the contributions of this work is to propose and investigate the use of a target-centric SLAM configuration to solve the estimation problem that differs from the well-known World-centric and Robot-centric SLAM configurations. In this sense, the proposed approach is supported by theoretical results obtained from an extensive nonlinear observability analysis. Additionally, a control system is proposed for maintaining a stable UAV flight formation with respect to the target as well. In this case, the stability of control laws is proved using the Lyapunov theory. Employing an extensive set of computer simulations, the proposed system demonstrated potentially to outperform other related approaches.

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Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera

Boby

Малолетов

Klimchik

2021

J Intell Robot Syst

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A Cooperative Aerial Robotic Approach for Tracking and Estimating the 3D Position of a Moving Object by Using Pseudo-Stereo Vision

Cited by 7 publications

References 26 publications

A Monitoring Method Integrating Terrestrial Laser Scanning and Unmanned Aerial Vehicles for Different Landslide Deformation Patterns

A Monitoring Method Integrating Terrestrial Laser Scanning and Unmanned Aerial Vehicles for Different Landslide Deformation Patterns

Cooperative Visual-SLAM System for UAV-Based Target Tracking in GPS-Denied Environments: A Target-Centric Approach

Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera

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