TY - GEN
T1 - Autonomous ship board landing of a VTOL UAV
AU - Sanchez-Lopez, Jose Luis
AU - Saripalli, Srikanth
AU - Campoy, Pascual
PY - 2013
Y1 - 2013
N2 - 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 6DOF motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck w.r.t 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.
AB - 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 6DOF motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck w.r.t 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.
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M3 - Conference contribution
AN - SCOPUS:84883420628
SN - 9781627486514
T3 - Annual Forum Proceedings - AHS International
SP - 798
EP - 807
BT - 69th American Helicopter Society International Annual Forum 2013
T2 - 69th American Helicopter Society International Annual Forum 2013
Y2 - 21 May 2013 through 23 May 2013
ER -