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

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

doi:10.1007/s10846-013-9926-3

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

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

Earth and Space Exploration, School of (SESE)

Research output: Contribution to journal › Article › peer-review

90 Scopus citations

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 language	English (US)
Pages (from-to)	113-127
Number of pages	15
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	74
Issue number	1-2
DOIs	https://doi.org/10.1007/s10846-013-9926-3
State	Published - Apr 2014

Keywords

Autonomous landing
Computer vision
Ship deck simulation
UAV
VTOL

ASJC Scopus subject areas

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

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10.1007/s10846-013-9926-3

Cite this

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title = "An approach toward visual autonomous ship board landing of a VTOL UAV",

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.",

keywords = "Autonomous landing, Computer vision, Ship deck simulation, UAV, VTOL",

author = "Sanchez-Lopez, {Jose Luis} and Jesus Pestana and Srikanth Saripalli and Pascual Campoy",

note = "Funding Information: Acknowledgements The authors would like to thank the Consejo Superior de Investigaciones Cientificas (CSIC) of Spain for the JAE-Predoctoral first author{\textquoteright}s scholarship and the UECMUAVS Project (PIRSES-GA-2010) included in the Marie Curie Program and the Spanish Ministry of Science MICYT DPI2010-20751-C02-01 for project funding.",

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

Abstract

Keywords

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