Height estimation via stereo vision system for unmanned helicopter autonomous landing

Hsia, Kuo-Hsien; Lien, Shao-Fan; Su, Juhng-Perng

doi:10.1109/3ca.2010.5533535

Cited by 8 publications

(2 citation statements)

References 16 publications

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“…A cascaded controller structure stabilizes velocity and position in the absence of GPS signals by using a dedicated optical flow sensor. The technology described in [13] improves the height estimation provided by the GPS with a stereo camera during the landing procedure. In [15] a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target is proposed.…”

Section: Related Workmentioning

confidence: 99%

Real-time, GPU-based pose estimation of a UAV for autonomous takeoff and landing

Benini

Rutherford

Valavanis

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper proposes a real-time system for pose estimation of an Unmanned Aerial Vehicle (UAV) using parallel image processing of a known marker. The system exploits the capabilities of a high-performance CPU/GPU embedded system in order to provide on-board high-frequency pose estimation, eliminating the need for transmitting the video stream offboard, and enabling autonomous takeoff and landing. The system is evaluated extensively with lab and field tests on board a small quadrotor. The results show that the proposed system is able to provide precise pose estimation with a framerate of at least 30 fps and an image resolution of 640x480 pixels. The use of the GPU for image filtering and marker detection provides an upper bound on the required computation time regardless of the complexity of the image thereby allowing for robust marker detection even in cluttered environments.

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Section: Related Workmentioning

confidence: 99%

Real-time, GPU-based pose estimation of a UAV for autonomous takeoff and landing

Benini

Rutherford

Valavanis

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…About the choice of the approach to describe the scenes, some researchers have addressed the altitude estimation problem using local descriptors [29][30][31][32]. However, the literature on altitude estimation using only visual information and global appearance descriptors is quite sparse and few works can be found on this topic, despite the advantages that global appearance descriptors can offer to the mapping and localization problems [33].…”

Section: Introductionmentioning

confidence: 99%

Development of Height Indicators using Omnidirectional Images and Global Appearance Descriptors

et al. 2017

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Nowadays, mobile robots have become a useful tool that permits solving a wide range of applications. Their importance lies in their ability to move autonomously through unknown environments and to adapt to changing conditions. To this end, the robot must be able to build a model of the environment and to estimate its position using the information captured by the different sensors it may be equipped with. Omnidirectional vision sensors have become a robust option thanks to the richness of the data they capture. These data must be analysed to extract relevant information that permits estimating the position of the robot taking into account the number of degrees of freedom it has. In this work, several methods to estimate the relative height of a mobile robot are proposed and evaluated. The framework we present is based on the global appearance of the scenes, which has emerged as an efficient and robust alternative comparing to methods based on local features. All the algorithms have been tested with some sets of images captured under real working conditions in several indoor and outdoor spaces. The results prove that global appearance descriptors provide a feasible alternative to estimate topologically the relative altitude of the robot.

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Energy Efficient Mobile Target Tracking Using Flying Drones

Zorbas

Razafindralambo

Pugliese

et al. 2013

Procedia Computer Science

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Height estimation via stereo vision system for unmanned helicopter autonomous landing

Cited by 8 publications

References 16 publications

Real-time, GPU-based pose estimation of a UAV for autonomous takeoff and landing

Real-time, GPU-based pose estimation of a UAV for autonomous takeoff and landing

Development of Height Indicators using Omnidirectional Images and Global Appearance Descriptors

Energy Efficient Mobile Target Tracking Using Flying Drones

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