An approach toward visual autonomous ship board landing of a VTOL UAV

Jose Luis Sanchez-Lopez, Jesus Pestana, Srikanth Saripalli, Pascual Campoy

Research output: Contribution to journalArticle

38 Citations (Scopus)

Abstract

We present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. To demonstrate the efficacy of our algorithms we emulate the dynamics of the ship-deck, for various sea states and different ships using a six degrees of freedom motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck with respect to the vehicle. A Kalman filter is used in conjunction with our vision system to ensure the robustness of the estimates. We demonstrate the accuracy and robustness of our system to occlusions, variation in intensity, etc. using our testbed.

Original languageEnglish (US)
Pages (from-to)113-127
Number of pages15
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume74
Issue number1-2
DOIs
StatePublished - Apr 2014

Fingerprint

Unmanned aerial vehicles (UAV)
Landing
Decks (ship)
Ships
Testbeds
Kalman filters
Computer vision
Cameras

Keywords

  • Autonomous landing
  • Computer vision
  • Ship deck simulation
  • UAV
  • VTOL

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

An approach toward visual autonomous ship board landing of a VTOL UAV. / Sanchez-Lopez, Jose Luis; Pestana, Jesus; Saripalli, Srikanth; Campoy, Pascual.

In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 74, No. 1-2, 04.2014, p. 113-127.

Research output: Contribution to journalArticle

Sanchez-Lopez, Jose Luis ; Pestana, Jesus ; Saripalli, Srikanth ; Campoy, Pascual. / An approach toward visual autonomous ship board landing of a VTOL UAV. In: Journal of Intelligent and Robotic Systems: Theory and Applications. 2014 ; Vol. 74, No. 1-2. pp. 113-127.
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