A visual servoing approach for tracking features in urban areas using an autonomous helicopter

Luis Mejías; Pascual Campoy; Srikanth Saripalli; Gaurav S. Sukhatme

doi:10.1109/ROBOT.2006.1642078

A visual servoing approach for tracking features in urban areas using an autonomous helicopter

Luis Mejías, Pascual Campoy, Srikanth Saripalli, Gaurav S. Sukhatme

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

38 Scopus citations

Abstract

The use of Unmanned Aerial Vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust.

Original language	English (US)
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	2503-2508
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1642078
State	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ROBOT.2006.1642078

Cite this

Mejías, L., Campoy, P., Saripalli, S., & Sukhatme, G. S. (2006). A visual servoing approach for tracking features in urban areas using an autonomous helicopter. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2503-2508). Article 1642078 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642078

A visual servoing approach for tracking features in urban areas using an autonomous helicopter. / Mejías, Luis; Campoy, Pascual; Saripalli, Srikanth et al.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 2503-2508 1642078 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mejías, L, Campoy, P, Saripalli, S & Sukhatme, GS 2006, A visual servoing approach for tracking features in urban areas using an autonomous helicopter. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1642078, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 2503-2508, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1642078

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abstract = "The use of Unmanned Aerial Vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust.",

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AB - The use of Unmanned Aerial Vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust.

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A visual servoing approach for tracking features in urban areas using an autonomous helicopter

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