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 proceedingConference contribution

28 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 languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2503-2508
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    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). [1642078] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642078